Research Information System
Thesis Type: Postgraduate
Institution Of The Thesis: Marmara University, Faculty Of Technology, Mechatronic Engineering, Turkey
Thesis Language: Turkish
Student: Kübra PEHLİVAN
Principal Supervisor (For Co-Supervisor Theses): Hasan Erdal
Co-Supervisor: Barış Doğan
Abstract: As
the use of UAVs has become widespread, there has created need for autonomous
and precision landing on a specific destination on water, indoor and outdoor
areas on land. Today, approaches to solve the precision landing depends on
Global Navigation Satellite System (GNSS), Inertial Navigation System (INS) or
Real-Time Kinematics (RTK) technologies etc. Most of these technologies are
high cost and in INS and GNSS systems the magnitude of position error in the
landing on target can be large. The use of measurement systems based on image data
in the control and landing applications of UAVs is becoming widespread with
the development of computer vision and signal processing based technologies. In
this thesis, development of optical based autonomous precision landing system
is aimed for rotary wing UAVs which are capable of vertical land / take off.
In this way, the manufacture of quadrotor which has open source flight control
unit (FCU) and four rotary propeller, conducting detection tests of light at different
wavelengths in different conditions, using image processing algorithms with
camera and position / speed based PID position control are purposed. In
many similar studies about precision landing, Red-Green-Blue (RGB) or
grayscale color space-based methods are used in the daylight band. The landing
on target position is determined by methods of recognition the colors or shape
patterns on the surface of target in RGB color space based applications. In
grayscale color space-based applications, markers such as ARUCO, AprilTag etc.
which have prebuild libraries for programming languages are used to determine
the target landing position. Following this, applications that is studied on
daylight band have problems such as change of color values, target cannot be
recognized or seen as a result of changing light intensity at different times
of day. In
this study, in order to prevent the problems encountered in daylight
band-based applications, Beacon design will be did which works in IR band and
has active light source. In order to
detect the designed active pointer, Image processing algorithms will be
developed by using camera which is only work in IR band. Precision landing
system based on image processing will be developed with Python language on one
of the popular mini-computer platforms used today. The precision landing
system consisting of mini-computer, IR camera, IR pointer and control
application will be commercialized for many rotary wing UAVs. In this respect,
the study can also be transformed into TUBITAK 1512 project applications which
may contribute economically. With the design studies to be done on the pattern model of
the IR marke, the detection distance of the marker will be increased in all
light conditions. Furthermore with the algorithm that will be developed in the
control application, the landing accuracy of the UAV will be improved to a
better level than the existing applications. All studies that are conducted in
this direction will constitute the original aspect of this thesis proposal.