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Robust autonomous navigation system based on compound eye systems of flying insects

Research Project

Project/Area Number 15K14254
Research Category

Grant-in-Aid for Challenging Exploratory Research

Allocation TypeMulti-year Fund
Research Field Aerospace engineering
Research InstitutionKyushu University

Principal Investigator

Hokamoto Shinji  九州大学, 工学研究院, 教授 (80199463)

Co-Investigator(Kenkyū-buntansha) 坂東 麻衣  九州大学, 工学研究院, 准教授 (40512041)
Project Period (FY) 2015-04-01 – 2018-03-31
Project Status Completed (Fiscal Year 2017)
Budget Amount *help
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2017: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2016: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2015: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Keywords自律航法 / 運動推定 / オプティックフロー / 広域統合 / 距離推定 / 自律飛行 / 複眼システム / 高度推定
Outline of Final Research Achievements

This research aims to develop a feasible engineering system to robustly estimate a vehicle's motion variables for autonomous flight, based on Wide-Field-Integration (WFI) of optic flow. Because optic flow is obtained from image sensors with restricted field of views, the number and placement/optical axes of image sensors are the important factors for the accurate estimation. This research investigated the effect of them as well as the combination method of optic flow by using numerical simulations and experiments. A sensor board to experimentally obtain optic flow has been improved to realize a practical WFI of optic flow sensor. Furthermore, this research showed some guidelines to combine with other sensors and some distance estimation methods to obstacles for autonomous obstacle detection and avoidance.

Report

(4 results)
  • 2017 Annual Research Report   Final Research Report ( PDF )
  • 2016 Research-status Report
  • 2015 Research-status Report
  • Research Products

    (10 results)

All 2017 2016 2015

All Journal Article (1 results) (of which Peer Reviewed: 1 results,  Open Access: 1 results) Presentation (9 results) (of which Int'l Joint Research: 7 results,  Invited: 1 results)

  • [Journal Article] Improvement of Wide-Field-Integration of Optic Flow Considering Practical Sensor Restrictions2017

    • Author(s)
      Naoto Kobayashi, Mai Bando, Shinji Hokamoto
    • Journal Title

      Journal of Mechanical Engineering and Automation

      Volume: 7

    • Related Report
      2017 Annual Research Report 2016 Research-status Report
    • Peer Reviewed / Open Access
  • [Presentation] Altitude and Motion Estimation for Autonomous Vehicles through Wide-Field-Integration of Optic Flow2017

    • Author(s)
      Ryusuke Nakata, Naoto Kobayashi, Mai Bando, Shinji Hokamoto
    • Organizer
      31st International Symposium on Space Technology and Science
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Optic flow-based environment recognition system for planetary rovers2017

    • Author(s)
      Naoto Kobayashi, Ryusuke Nakata, Mai Bando, Shinji Hokamoto
    • Organizer
      68th International Astronautical Congress
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Bio-inspired Navigation for Autonomous Vehicles2017

    • Author(s)
      Shinji Hokamoto
    • Organizer
      9th Kyushu University-KAIST Symposium on Aerospace Engineering
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] Wide-Field Integration of Optic Flowを用いた運動推定における画像センサ位置の影響2017

    • Author(s)
      丸山慶一郎,小林直人,坂東麻衣,外本伸治
    • Organizer
      日本航空宇宙学会西部支部講演会
    • Related Report
      2017 Annual Research Report
  • [Presentation] A Novel Attitude Estimation Method Based on Wide-Field-Integration of Optic Flow for Autonomous Navigation2016

    • Author(s)
      Naoto Kobayashi, Ryusuke Nakata, Mai Bando, Shinji Hokamoto
    • Organizer
      The 2016 Asia-Pacific International Symposium on Aerospace Technology (APISAT)
    • Place of Presentation
      Toyama, Japan
    • Year and Date
      2016-10-25
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] Altitude and motion estimation for small UAVs by using optic flow2016

    • Author(s)
      Ryusuke Nakata, Naoto Kobayashi, Mai Bando, Shinji Hokamoto
    • Organizer
      The 8th KAIST-Kyushu University Symposium on Aerospace Engineering
    • Place of Presentation
      Daejeon, Korea
    • Year and Date
      2016-10-13
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] オプティックフローによる小型自律航空機の高度および状態推定2016

    • Author(s)
      中田隆介,小林直人,金城寛,外本伸治
    • Organizer
      計測自動制御学会制御部門 第3回マルチシンポジウム
    • Place of Presentation
      名古屋,日本
    • Year and Date
      2016-03-07
    • Related Report
      2015 Research-status Report
  • [Presentation] Motion estimation of autonomous spacecraft near asteroid using wide-field-integration of optic flow2015

    • Author(s)
      Naoto Kobayashi, Masataka Oishi, Yutaka Kinjo, Daisuke Kubo, Shinji Hokamoto
    • Organizer
      The 25th International Symposium on Space Flight Dynamics
    • Place of Presentation
      Munich, Germany
    • Year and Date
      2015-10-19
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research
  • [Presentation] Experimental verification of wide-field-integration of optic flow for state estimation2015

    • Author(s)
      Naoto Kobayashi, Masataka Oishi, Yutaka Kinjo, Shinji Hokamoto
    • Organizer
      The 30th International Symposium on Space Technology and Science
    • Place of Presentation
      Kobe, Japan
    • Year and Date
      2015-07-04
    • Related Report
      2015 Research-status Report
    • Int'l Joint Research

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Published: 2015-04-16   Modified: 2019-03-29  

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