近年來，科技日新月異的在進步，不管是救災單位還是國防單位，都會利用各種多軸飛行器來執行危險、複雜的任務，使得無人機的使用率已經愈來愈普及化。一般市面上的多軸飛行器操控系統，多半是採用飛控板(Ardupilot)搭配遙控器來做遠端的操控，本研究的目的是要將市面上的遙控器與飛控板取代掉，使四旋翼能夠自主飛行空拍影像得以讓無人船做即時路徑規劃，而取代掉它們的分別是行動電腦、無線模組及Arduino單晶片板，所以未來不管是醫護救災、國防偵察執行等等多種不同的任務，勢必可以減少人力操控飛行器去執行任務的成本。
　　本文為了使四旋翼能夠自主飛行並且經由空拍影像使無人船達到即時路徑之規劃，將使用一個Arduino單晶片板、兩個無線模組(Xbee)、兩個感測器模組(GY-80、MPU6050)搭配程式語言的編寫，之後將程式碼燒入Arduino並做為四旋翼的主控板，再經由行動電腦輸入指令來達到自主飛行的效果。此外，當中含撰寫一套PID校正程式碼，目的是使四旋翼的飛行更加穩定。本研究採用Arduino晶片板做為主控板的原因主要是它重量輕巧、體積小、自由度高，且程式的語法讓人淺顯易懂，不僅如此，網路平台上也有提供許多免費的資源，如此一來就可以不再受市面上產品功能的限制，在搭配不同的感測器的情況之下，讓使用者可以自行研發、設計出許多不同的功能。

With technological advancement in recent years, there has been a wide variety of quadrotors to carry out dangerous and complicated tasks, such as missions set by the unit of relief or unit of national defense, thereby making UAVs become prevalent. The most commonly sold quadrotors in the market must be operated with Ardupilot and a remote control. This study aims to replace the Ardupilot and remote control components with the use of a notebook and Arduino in order to make the quadrotor have an autonomous flying function that takes taking aerial images for real-time path planning for unmanned surface vehicles. With its great potential to carry out a variety of beneficial tasks, such as that of medical care, military detection or other fieldworks, the cost of creating and controlling quadrotors must be decreased. For this study, in order to achieve the goal of taking aerial images by an autonomous quadrotor, an Arduino board, two Xbees, a GY-80 sensor and a MPU6050 sensor are used. The quadrotor program is written with Arduino, where the autonomous flying function is inputted through a notebook. Furthermore, in order to stabilize the flying function of the quadrotor, a PID control program is coded to function as a ground station and ensure remote wireless control through the use of the Xbees. In this research, Ardupilot will be replaced by Arduino because it is physically light, compact, and flexible, and writing a program with Arduino can be done with ease, especially with multiple online resources and guides available. Thus, the use of Arduino will not be limited compared to Ardupilot on the market, where users can conduct further research, develop, and design many innovative features by utilizing various sensors and other products.

[1] Q. Zhan, J. Wang, and X. Xi, “Control System Design and Experiments of a Quadrotor,” in Proc. IEEE International Conference on Robotics and Biomimetics, pp. 1152-1157, 2012.

[2] M. D. Schmidt. “Simulation and Control of a Quad-rotor Unmanned Aerial Vehicle,” University of Kentucky, 2011.

[3] Mahony, R., Kumar, V., & Corke, P. Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor. IEEE Robotics & Automation Magazine , 19(3), 20–32, 2012.

[4] Dydek, Z.T., Annaswamy, AM., & Lavretsky, E. Adaptive Control of Quadrotor UAVs: A Design Trade StudyWith Flight Evaluations. IEEE Trans. Control Systems Technology , 21(4), pp.1400–1406, 2013.

[5] Wikipedia. "Arduino", available online at
http://zh.wikipedia.org/wiki/Arduino,March 15 2013.

[6] Arduino Forum, "Arduino ADK", available online at
http://arduino.cc/en/Main/ArduinoBoardADK, March 12, 2013.

[7] T.J.E. Miller. ”Brushless Permanent Magnet And Reluctance Motor Drives,” Monographs in Electrical and Electronic Engineering, July. 1989.

[8] Ryan Peter. Arduino Inverted Pendulum by Complementary Filter.
available online at
http://rapot2014.blogspot.tw/2014/08/inverted-pendulum3.html, 2014.

[9] Dirman Hanafi, Mongkhun Qetkeaw, Rozaimi Ghazali, Mohd Nor Mohd Than, Wahyu Mulyo Utomo, Rosli Omar. Simple GUI Wireless Controller of Quadcopter, Int. J. Communications, Network and System Sciences, 6, pp.52-59, 2013.

[10] Robert Faludi. Building Wireless Sensor Networks, New York, 2010.

[11] Andrew Rapp. xbee-arduino, available online at
https://github.com/andrewrapp/xbee-arduino, 2015.

[12] Jin-Shyan Lee, Yu-Wei Su, and Chung-Chou Shen. “A Comparative Study of Wireless Protocols: Bluetooth, UWB, ZigBee, and Wi-Fi,” The 33rd Annual Conference of the IEEE Industrial Electronics Society (IECON), 5-8 Nov 2007.

[13] H.Y. Yang, S.Q. Geng, L.G. Hou, J.H. Wang, X.H. Peng, W.C. Wu. “Research of Fire Detecting System Based on ZigBee Wireless Network”, Industrial Control and Electronics Engineering (ICICEE), 2012 International Conference on, pp. 251-253, 23-25 August 2012.

[14] Jimb0. Exploring XBees and XCTU, available online at
https://learn.sparkfun.com/tutorials/exploring-xbees-and-xctu, 2015.

[15] Justin. Using the GY80 10DOF module with Arduino, available online at
http://www.forkrobotics.com/2013/06/using-the-gy80-10dof-module-with-arduino/, 2013.

[16] Cedtat. GY-80-sensor-samples, available online at
https://github.com/cedtat/GY-80-sensor-samples, 2013.

[17] Jimb0. BMP085 Barometric Pressure Sensor Quickstart,available online at https://www.sparkfun.com/tutorials/253, 2011.

[18] Y. Yussoff, H.Z. Abidin, R.A. Rahman, F.H. Yahaya, “Development of a PIC-based wireless sensor node utilizing XBee technology”, Information Management and Engineering (ICIME), 2010 The 2nd IEEE International Conference on, pp. 116 – 120, 16-18 April 2010.

[19] Shane Colton. A Simple Solution for Integrating Accelerometer and Gyroscope Measurements for a Balancing Platform.available online at http://d1.amobbs.com/bbs_upload782111/files_44/ourdev_665531S2JZG6.pdf, 2007.

[20] B. Erginer, E. Altug, ” Modeling and PD Control of a Quadrotor VTOL Vehicle,” Intelligent Vehicles Symposium, pp.894-899, 2007.

[21] J. Sluka. A PID Concroller For Lego Mindstorms Robots.
available online at http://www.inpharmix.com/jps/PID_Controller_For_Lego_Mindstorms_Robots.html, 2007.

[22] Brett Beauregard. Arduino PID Library. available online at http://playground.arduino.cc/Code/PIDLibrary, 2012.

[23] Oscar. Quadcopter PID Explained and Tuning. available online at http://blog.oscarliang.net/quadcopter-pid-explained-tuning, 2015.

[24] Arvind Sanjeev, ARDUINO MPU 6050 – BEST IMU SENSOR TUTORIAL, available online at
http://diyhacking.com/arduino-mpu-6050-imu-sensor-tutorial, 2014.

[25] 何昭毅.”基於Arduino之自我平衡四軸飛行器,”南台科技大學,2014.

[26] 孫駿榮, 吳明展, 盧聰勇.”最簡單的互動設計Arduino一試就上手,”基峯資訊,2010.

[27] L. Heng, L. Meier, P. Tanskanen and M. Pollefeys. –Autonomous Obstacle Avoidance and Maneuvering on a Vision-Guided MAV Using on-Board Processing. proceedings of International Conference on Robotics and Automation, 2011.

[28] L. Meier, P. Tanskanen, L. Heng, G. Lee, F. Fraundorfer, and M. Pollefeys, “PIXHAWK: A Micro Aerial Vehicle Design for Autonomous Flight Using Onboard Computer Vision,” Autonomous Robots, pp. 1–19, 2012.

[29] Joe-Ming Yang, Chia-Chun Fan. “Real-time Path Planning for Unmanned Surface Vehicle by Using Finite Angle A* Algorithm,” National Cheng Kung University, 2013.

[30] Joe-Ming Yang, Po-Sheng Tseng. “Path Planning for Unmanned Surface Vehicle by Using Aerial Image from Quadrotor,” National Cheng Kung University, 2015.