Histogram of Oriented Gradients as Feedback on Proportional Navigation (PN) Control and Proportional-Integral-Derivative (PID) Control on Quadcopter Platforms

Indonesia is located in Mediterranean Basin, Pacific Basin and flanked by 3 large plates i.e. Indo-Australian, Eurasian, and Pacific Plate. Therefore, Indonesia has many volcanic mountains and prone of natural disaster such as earthquake, tsunami, and volcanic earthquake. Usually after disaster happened, SAR (Search and Rescue) team would be deployed to search victims, and mapping disaster's area quickly, however the assignment, especially after the disaster happened is very dangerous and high risk. Hence, SAR needs a high tech device to help that situation and minimize the risk. Here, we would like to propose Quadcopter as victim's finder and area mapper as the solution to minimize the risk. A High speed and accurate response quadcopter is needed to conduct those things. Object detector mechanism must be installed to the Quadcopter in order to give signal for quadcopter to be able moving closer to the victims and to prevent from colliding objects during area mapping. The object detection is using image processing method, Histogram of Oriented Gradient (HoG). Proportional Navigation (PN) and Proportional-Integral-Derivative (PID) control system are used as quadcopter's control system and both working simultaneously to control the movement of the quadcopter. Proportional Navigation (PN) will be used as default control system when the victim's position is at long-distance. PN is also used to make quadcopter to move more aggressive with maximum acceleration. As the distance closer enough to the victims, the control system will be automatically switch to Proportional-Integral-Derivative (PID) Control System. PID is used at close distance because the flexibility and consistency of response in dynamic movement. The system achieves control quadcopter to approaching an object (i.e. human). At distance to object quite far (i.e. more than 3 meters), the PN controls successfully control the quadcopter into closer distance (i.e. less than 3 meters), then PID controls works.