Combining GPS and Computer Vision for Increasing Landing Precision of Quadcopter Drone

Akhara, Amnaduny and , Heru Supriyono, S.T., M.Sc., Ph.D (2019) Combining GPS and Computer Vision for Increasing Landing Precision of Quadcopter Drone. Skripsi thesis, Universitas Muhammadiyah Surakarta.

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Abstract

In the use of Unmanned Aerial Vehicle (UAV) such as quadcopter requires very precise accuracy to reach autonomous landing mechanism using Global Positioning System (GPS). Because the precision level of GPS is lacking, a quadcopter will be added a camera to process the images obtained from the landing pad to increase the level of accuracy of the landing. Landing pad with ring cirlce in plastic banner and plywood material in white and black is provided to find center coordinate that will be processed to control quadcopter movement. Algorithm used is Canny Edge detection and Hough Transform which is combined with GPS device. First doing for Canny Edge is conversion from RGB to grayscale then remove noise by blur after that find the edge by using Canny Edge detection and the next is determine center coordinate by centroid method. For Hough Transform the first is conversion RGB to grayscale, removing noise by blur, adaptive threshold then morphological operation and next is finding circle contour by Hough Transform method and finally is determining center coordinate by centroid method. To control quadcopter movement by dividing the frame into 9 grids and doing movement according to grid autonomously. The test is done with auto takeoff and land of GPS device only and GPS combine with Canny Edge detection and Hough Transform on altitude 5 m measured by barometer sensor. The result landing by GPS device has error average 199.2 cm. For GPS and Canny Edge detection with plastic banner has error average 42.2 cm and for plywood is 45.4 cm. GPS and Hough Transform with plastic banner is 41.4 cm and with plywood is 34.6 cm.

Item Type:	Karya ilmiah (Skripsi)
Uncontrolled Keywords:	autonomous, Canny Edge detection, GPS, Hough Transform, precision landing, quadcopter, Unmanned Aerial Vehicle
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics
Divisions:	Fakultas Teknik > Teknik Elektro
Depositing User:	AMNADUNY AKHARA
Date Deposited:	30 Jul 2019 01:34
Last Modified:	30 Jul 2019 01:35
URI:	http://eprints.ums.ac.id/id/eprint/74861

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