本文建構了一套自製四軸飛行器系統，由微控制器、超音波感測器、姿態感測器、影像模組，相關電路等組成，並使用串級PID(Proportional-Integral-Derivative)嵌入微控制器來完成姿態與高度控制，其優點在於面對複雜的非線性系統不需要精確的數學模型，仍然能有效控制。而在影像方面，為了幫助四軸飛行器能夠穩定懸停與循線前進，使用霍夫轉換與單目測距來檢測飛行器當前偏航角度與高度，以此輔助飛行器完成任務。
為了驗證上述方法運用於四軸飛行器的效果，建立了一個四軸飛行器實驗平台環境來測試其成果，實驗結果符合預期目標。

In this study, a self-made quadcopter system is constructed, which consists of microcontroller, ultrasonic sensor, attitude sensor, image module, related circuits, etc. The cascade PID is used to embed microcontrollers for attitude and altitude control, which has the advantage that complex non-linear systems can be controlled effectively without the need for precise mathematical models. For image processing, to help the quadrotor hover and track the line stably, Hough transform and monocular ranging are used to detect the current yaw angle and altitude of the the quadrotor and as an aid to complete the flight.
In order to verify the effectiveness of the above method applied to the quadrotor, an experimental platform environment for a quadrotor is established. The experimental results show that they meet the expected objectives.

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