| Project/Area Number |
17K01300
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Social systems engineering/Safety system
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| Research Institution | University of Miyazaki |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
高橋 伸弥 宮崎大学, 工学部, 助教 (20315352)
李 根浩 宮崎大学, 工学部, 准教授 (60595776)
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| Project Period (FY) |
2017-04-01 – 2020-03-31
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| Project Status |
Completed (Fiscal Year 2019)
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| Budget Amount *help |
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2019: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2018: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2017: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
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| Keywords | UAV / 分散システム / 幾何学的代数 / 分散制御 / 群ロボット / 離散時間システム / ロバスト制御 / 幾何学的相互作用 / 幾何学的代数を用いたモデリング / 仮想環境 / 正三角形のネットワークトポロジー / クアッドロータ制御における特異性回避 / ROS/Gazebo / 数値標高モデル(DEM) / 制御工学 / 臨時ネットワークインフラ / 自律UAV群 |
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| Outline of Final Research Achievements |
For the problem of autonomous placement and deployment of robots, we proposed a decentralized movement method on a two-dimensional plane and in a three-dimensional space. Furthermore, we researched a distributed control method for constructing a mobile network by interacting only with local communications.
We proposed a virtual environment which constructed with GIS (geometric Information System). It enables a planning energy saving trajectory by using DP (dynamic programming), and support of the autonomous flight control by utilizing the flexible viewpoint in the virtual environment around the UAV. A robust tracking control and state estimation system which is based on a guaranteed cost control is proposed.
We simplified the existing dynamic equation foe rigid body based on the geometric algebra and proposed a stabilizing control law for fully actuated UAV.
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| Academic Significance and Societal Importance of the Research Achievements |
本研究の成果は複数台のUAVが効率的に協調動作を行うための基礎理論を構築するものであり、制御工学、ロボット工学分野への寄与は大きく、また、本研究の主用途である災害時のネットワークインフラの構築を含めて様々な分野への応用が期待される。
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