從頭開始搭建一台能自主飛行並避障的無人機並不是一件容易的事。儘管在自主定位導航以及路徑規劃等方面的研究已盛行許久，但文獻中尚未有大量討論如何將不同功能的演算法整合並實現於真實環境中。而這些研究通常也假設其演算法執行於網路環境狀態穩定的情況下。在本文中，我們首先解析了搭建一台能自主飛行的無人機需要具備哪些軟硬體模組，接著我們調查對於各項模組在當今最優秀的演算法分別有哪些。同時我們調查國際上對於無人機通訊的標準規範，了解若要在真實環境實行無人機群，飛機自身需要廣播哪些必要資訊，以便無人機群在彼此溝通的情況下也能維持空中交管系統的秩序。接著我們透過模擬不同網路參數環境下的路徑規劃結果來評估路徑規劃演算法在不同網路環境下的影響。最後我們從無人機的骨架開始，結合飛控板、小型機載電腦、相機與其他感測器等，搭建出能在室內環境自主飛行與避障的無人機，同時能將其規劃的路徑透過UDP封包傳遞給其他無人機作為群體避障路徑規劃。

Building a drone from scratch that can fly autonomously and avoid obstacles is not an easy task. Although research on autonomous localization, navigation and path planning has long been popular, there is little discussion in the literature on how to integrate algorithms with different functions and implement them in real-world settings. These studies usually assume that their algorithms are executed in a stable network environment. In this thesis, we first analyze what software and hardware modules are needed to build a drone that can fly autonomously. Then we see what the best algorithm is for each module today. At the same time, we studied the international standards for drone communication to understand what necessary messages the drone itself needs to broadcast. This enables a group of drones to communicate with each other while maintaining order within the air traffic control system. Then, we evaluate the impact of path planning algorithms in different network environments by simulating the path planning results in different network parameter environments. Finally, we started with the skeleton of the drone and combined it with the flight control board, small on-board computer, cameras and other sensors to create drones that can fly autonomously in indoor environments and avoid obstacles. At the same time, the planned path can be passed to other drones through UDP packets for group obstacle avoidance path planning.

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