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Development of Autonomous Aero-Robot and Its Application to Safety and Disaster Prevention

Research Project

Project/Area Number 12359002
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section展開研究
Research Field 広領域
Research InstitutionKYOTO UNIVERSITY

Principal Investigator

INOUE Koichi  Kyoto University, Professor, 工学研究科, 教授 (70026079)

Co-Investigator(Kenkyū-buntansha) SATO Akira  YAMAHA Motor Co. LTD., Manager, 主査
NAKANISHI Hiroaki  Kyoto University, Research Associate, 工学研究科, 助手 (50283635)
KOHDA Takehisa  Kyoto University, Associate Professor, 工学研究科, 助教授 (60205333)
Project Period (FY) 2000 – 2002
Project Status Completed (Fiscal Year 2002)
Budget Amount *help
¥34,200,000 (Direct Cost: ¥30,600,000、Indirect Cost: ¥3,600,000)
Fiscal Year 2002: ¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2001: ¥11,570,000 (Direct Cost: ¥8,900,000、Indirect Cost: ¥2,670,000)
Fiscal Year 2000: ¥18,600,000 (Direct Cost: ¥18,600,000)
KeywordsAero-robot / Safety and Disaster Prevention / Autonomous Flight Control / Information Gathering / Control Interface / Neural Network / Reliability / 安全・防災活動 / 情報収集活動 / 3次元地形情報 / インテリジェントシステム / 適応制御 / インテリジェント制御 / ボイスコマンドシステム
Research Abstract

The objective of this research is to develop a complete autonomous aero-robot, which can support various activities in an occasion of disaster such as large earthquakes, fires, and volcanic eruption.
In the first year, not only the basic design and development of the hardware of the aero-robot but also development of the flight simulator were carried out. GPS-INS hybrid navigation system, which is necessary for advanced flight control systems, was developed and the error of the position is reduced to only 2 cm. Moreover methods to design robust control system against various kinds of uncertainties by use of neural networks were proposed. For a control interface, voice command system was developed and evaluated. Then the difference between novice operators and skilled operators became clear as a result of analysis of the flight data.
In the second year, the hardware of aero-robot was improved for advanced flight control systems, and we made success in autonomous flight by use of controllers by use of neural networks or adaptive controller, and it is shown that controllers designed by the proposed methods are much superior to the conventional flight controllers. Moreover, the voice command system was also improved so that it can be used in noisy environment with enough stability, then the command system became much more useful in practical applications.
In the third year, systems, which were useful in information gathering at disaster site, were developed. Because web based datagram delivery is adopted, the developed system to gather and deliver aerial video and photograph is much easier to use and much cheaper than before and flight experiments showed its effectiveness. Moreover a method to make 3D terrain map by use of a stereo camera and GPS-INS hybrid navigation system together is developed and it is shown that the 3D map is very accurate and has enough resolution for investigation at disaster site and so on.

Report

(4 results)
  • 2002 Annual Research Report   Final Research Report Summary
  • 2001 Annual Research Report
  • 2000 Annual Research Report
  • Research Products

    (45 results)

All Other

All Publications (45 results)

  • [Publications] Hiroaki Nakanishi: "Development of Autonomous Flight Control Systems for Unmanned Helicopter by Use of Neural Networks"Proceedings of the 2002 International Joint Conference on Neural Network, World Congress on Computational. (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Akira Sato: "Civil UAV Application in Japan and Related Safety & Certification"Proceedings of UAV2002. (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hiroaki Nakanishi: "Autonomous Flight Control Systems for Unmanned Helicopter Using Neural Networks"Proceedings of SICE Annual Conference 2002 in OSAKA. 817-822 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 中西弘明: "ニューラルネットワークの学習によるロバスト制御系の構築"計測自動制御学会システム・情報部門学術講演会2002講演論文集. 363-368 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Koichi Inoue: "Developing Autonomous Flight Control Systems for Unmanned Helicopter by Use of Neural Network Training"Proceedings of International Conference to commemorate the 50^<th> Anniversary of Hankuk Aviation. 27-43 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 井上紘一: "防災用インテリジェントエアロロボットの開発"文部科学省大都市大震災軽減化特別プロジェクト公開シンポジュウム論文集. 51-54 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hiroaki Nakanishi: "Development of Command and Control Systems for UAVs"Proceedings of American Helicopter Society International Forum 57. (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hiroaki Nakanishi: "Training method of robust controllers against stochastic disturbances"Proceedings of the 2001 International Joint Conference on Neural Network. (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hiroaki Nakanishi: "Development of Autonomous Unmanned Helicopter for Disaster Prevention and Reliable Flight Control Systems"Proceedings of Asia Pacific Symposium on Safety APSS2001. Vol.1. 73-76 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 橋本 寛之: "ニューラルネットワークよるUAVの自律飛行制御"第11回FANインテリジェント・システム・シンポジュウム講演論文集. 321-326 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 細川 尚美: "自律型無人ヘリコプタの飛行制御系に関する検討"平成13年度航空宇宙学会関西・中部支部合同秋季大会講演集. (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 渡邊 洋子: "無人ヘリコプタのためのボイスコマンドシステム構築"ヒューマンインタフェースシンポジウム2001講演論文集. 129-132 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hiroaki Nakanishi: "Design Methods of Robust Feedback Controller against Parametric Uncertainties by Use of Neural Networks"Proceedings of the International ICSC/IFAC Symposium on NEURAL COMPUTATION(NC'2000). (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hiroaki Nakanishi: "Methods to Design Robust Controllers against Nonlinear and Multiple Uncertainties by Use of Neural Networks"Proceedings of the 2000 International Joint Conference on Neural Network. (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 中西 弘明: "ニューラルネットワークの学習によるロバスト制御性能を考慮した制御系の学習"第10回FANインテリジェント・システム・シンポジュウム講演論文集. 217-222 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 中西 弘明: "自律型エアロロボットの飛行制御へのニューラルネットワークの応用"第28回知能システムシンポジウム資料. 203-208 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 佐藤 彰: "無人ヘリコプタの自律飛行制御による有珠山火口付近の観測"第38回飛行機シンポジュウム講演集. 109-112 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 橋本 寛之: "ニューラルネットワークの学習による無人ヘリコプタの自律飛行制御系の構築法"Proceedings of the 44th Annual Conference of the Institute of Systems, Control and Information Engineers. 491-492 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Koich Inoue and Hiroaki Nakanishi: "Developing Autonomous Flight Control Systems for Unmanned Helicopter by Use of Neural Network Training"Proceedings of International Conference to commemorate the 50^<th> Anniversary of Hankuk Aviation University. (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Akira Sato: "Civil UAV Application in Japan and Related Safety & Certification"Proceedings of UAV2002. (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hiroaki Nakanishi and Koichi Inoue: "Development of Autonomouse Flight Control Systems for Unmanned Helicopter by Use of Neural Networks"Proceedings of the 2002 International Joint Conference on Neural Network, World Congress on Computational Intelligence. (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hiroaki Nakanishi, Akira Sato, Takehisa Kohda and Koichi Inoue: "Development of Autonomouse Unmanned Helicopter for Disaster Prevention and Reliable Flight Control Systems"Proceedings of Asia Pacific Symposium on Safety AP* 2001. 73-76 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hiroaki Nakanishi and Koichi Inoue: "Training method of robust controllers against stochastic disturbances"Proceedings of the 2001 International Joint Conference on Neural Network. (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hiroaki Nakanishi, Akira Sato and Koichi Inoue: "Development of Command and Control Systems for UAVs"Proceedings of AHS International Forum 57. (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Akira Sato: "Research, Development and Civil Application of an Autonomous, Unmanned Helicopter"Proceedings of American Helicopter Society International Forum 57. (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hiroaki Nakanishi and Koichi Inoue: "Methods to Design Robust Contorollers against Nonlinear and Multiple Uncertainties by Use of Neural Networks"Proceedings of the 2000 International Joint Conference on Neural Network. (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hiroaki Nakanishi and Koichi Inoue: "Design Methods of Robust Feedback Controller against Parametric Uncertainties by Use of Neural Networks"Proceedings of the International ICSC/IFAC Symposium on NEURAL COMPUTATION (NC'2000). (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Hiroaki Nakanishi: "Development of Autonomous Flight Control Systems for Unmanned Helicopter by Use of Neural Networks"Proceedings of the 2002 International Joint Conference on Neural Network. World Congress on Computational. (CD-ROM). (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Akira Sato: "Civil UAV Application in Japan and Related Safety & Certification"Proceedings of UAV2002. (CD-ROM). (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Hiroaki Nakanishi: "Autonomous Flight Control Systems for Unmanned Helicopter Using Neural Networks"Proceedings of SICE Annual Conference 2002 in OSAKA. (CD-ROM). 817-822 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 中西 弘明: "ニューラルネットワークの学習によるロバスト制御系の構築"計測自動制御学会 システム・情報部門学術講演会2002講演論文集. (CD-ROM). 363-368 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Koichi Inoue: "Developing Autonomous Flight Control Systems for Unmanned Helicopter by Use of Neural Network Training"Proceedings of International Conference to commemorate the 50^<th> Anniversary of Hankuk Aviation. (CD-ROM). 27-43 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 井上 紘一: "防災用インテリジェントエアロロボットの開発"文部科学省大都市大震災軽減化特別プロジェクト公開シンポジュウム論文集. (CD-ROM). 51-54 (2003)

    • Related Report
      2002 Annual Research Report
  • [Publications] Hiroaki Nakanishi: "Development of Command and Control Systems for UAVs"Proceedings of AHS International Forum 57. (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] Hiroaki Nakanishi: "Training method of robust controllers against stochastic disturbances"Proceedings of the 2001 International Joint Conference on Neural Network. (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] Hiroaki Nakanishi: "Development of Autonomous Unmanned Helicopter for Disaster Prevention and Reliable Flight Control Systems"Proceedings of Asia Pacific Symposium on Safety(APSS2001). 73-76 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 橋本 寛之: "ニューラルネットワークよるUAVの自律飛行制御"第11回FANインテリジェント・システム・シンポジュウム講演論文集. 321-326 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 細川 尚美: "自律型無人ヘリコプタの飛行制御系に関する検討"平成13年度航空宇宙学会関西・中部支部合同秋季大会講演集. 75-78 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 渡邊 洋子: "無人ヘリコプタのためのボイスコマンドシステム構築"ヒューマンインタフェースシンポジウム2001講演論文集. 129-132 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] Hiroaki Nakanishi: "Design Methods of Robust Feedback Controller against Parametric Uncertainties by Use of Neural Networks"Proceedings of the International ICSC/IFAC Symposium on NEURAL COMPUTATION(NC'2000). (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] Hiroaki Nakanishi: "Methods to Design Robust Controllers against Nonlinear and Multiple Uncertainties by Use of Neural Networks"Proceedings of the 2000 International Joint Conference on Neural Network. (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 中西弘明: "ニューラルネットワークの学習によるロバスト制御性能を考慮した制御系の学習"第10回FANインテリジェント・システム・シンポジュウム講演論文集. 217-222 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 中西弘明: "自律型エアロロボットの飛行制御へのニューラルネットワークの応用"第28回知能システムシンポジュウム講演集. (2001)

    • Related Report
      2000 Annual Research Report
  • [Publications] 佐藤彰: "無人ヘリコプタの自律飛行制御による有珠山火口付近の観測"第38回飛行機シンポジュウム講演集. 109-112 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 橋本寛之: "ニューラルネットワークの学習による無人ヘリコプタの自律飛行制御系の構築法"Proceedings of the 44th Annual Conference of the Institute of Systems, Control and Information Engineers,. 491-492 (2000)

    • Related Report
      2000 Annual Research Report

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Published: 2000-04-01   Modified: 2016-04-21  

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