由於無人飛機(UAV)具有降低操作成本以及能夠人類執行特定任務的優點，近年來，無人飛機的發展迅速成長，酬載是無人飛機上重要的系統，它能提供無人飛機作更廣大的應用，例如，空中偵查、交通監控、海岸巡防等。然而，在類似交通監控、海岸巡防這類的應用中，視覺導引是相當重要且關鍵的能力，其中包含影像辨識及飛行控制系統。
本研究主要的目的在於發展一套能夠利用影像辨識方法讓無人飛機沿著地理軌跡路徑飛行的視覺導引系統，這裡所指的軌跡路徑是河流、海岸線、道路，整體系統包含影像系統及飛行控制系統，影像系統負責偵測路徑並辨識目前飛機航向及路徑夾角，最後傳送參考航向指令至飛行控制系統，飛行控制系統是根據飛行員經驗所設計而成的模糊邏輯控制器所組成的，飛控系統能使飛機飛至所指定的航向，最後兩個次系統整合為一視覺導引系統。此系統已於硬體迴路系統測試模擬，而模糊控制器已於實際飛行作測試驗證。

In recent years, due to the requirements and strong demands of decreasing operational costs and executing the tasks which people cannot achieve in some particular situations, the development of unmanned aerial vehicles (UAVs) has grown rapidly. The payload system is one of the most significant subsystems for UAV and offers UAVs a wide variety of applications such as surveillance, watch, reconnaissance, traffic monitor, coastal border patrol, pollution inspection and so on. However, among these kinds of applications such as traffic monitor and coastal border, the capability of visual guidance of an UAV is essential and critical. To satisfy this kind of purpose, the vision-based system and autonomous flight control system are required.
The purpose of this thesis is to develop the visual guidance system which can be guided by a geographical track such as river, coastline, and road. The visual guidance system consists of the visual system and the flight control system. The visual system detects the track by image processing and determines the relative angle between the track and the UAV as the reference heading in flight. The longitudinal and lateral motions of the UAV are controlled by the proposed fuzzy logic controllers (FLC) designed by the experience of the ground pilot. The visual system and the flight control system are finally integrated as the visual guidance system. The overall system has been verified in the Hardware-In-the-Loop simulation and the practicability of the proposed FLC has been demonstrated in flight tests.

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