Autonomous Quadcopter Based Human Detection System for Search and Rescue

F. G. Al Ayubi(1), I Irmian(2), R. Uswarman(3), S. Istiqphara(4),


(1) Electrical Engineering, Institut Teknologi Sumatera (ITERA)
(2) Electrical Engineering, Institut Teknologi Sumatera (ITERA)
(3) Electrical Engineering, Institut Teknologi Sumatera (ITERA)
(4) Electrical Engineering, Institut Teknologi Sumatera (ITERA)
Corresponding Author

Abstract


The development of navigation and tracking of an object using unmanned aerial vehicles (UAV) has been evolved more advanced. The utilization of this technology is scattered throughout the area including for search and rescue in small and large areas.  In this research, the UAV used is a multirotor based on camera for human detection that has been developed and integrated into a fully autonomous system. The first stage is designing a controller and the second step is to integrate the companion computer on the quadcopter that has the OpenCV library installed with the HOG and SVM methods. The system presented in this paper is able to perform the stable flying via PID controller. The output response of roll, pitch, and yaw has an overshoot of 0.5 %. Identify target in the form of human body in real-time and identify target location based on the direction of the Earth's compass with test result has average error, latitude 1 = 0.026%, longitude 1 = 0.034%, latitude 2 = 0.016%, and longitude 2 = 0.00168%.


Keywords


UAV; multirotor; HOG; SVM; PID

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