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Construction of bio-inspired control method based on characteristic extraction model of flight creature's motion data

Research Project

Project/Area Number 20K04529
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Review Section Basic Section 21040:Control and system engineering-related
Research InstitutionUniversity of Tsukuba

Principal Investigator

Kawabe Tohru  筑波大学, システム情報系, 教授 (40224844)

Co-Investigator(Kenkyū-buntansha) 合原 一究  筑波大学, システム情報系, 准教授 (70588516)
Project Period (FY) 2020-04-01 – 2024-03-31
Project Status Completed (Fiscal Year 2023)
Budget Amount *help
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2022: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2021: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2020: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Keywordsバイオインスパイアード制御 / 数理モデル / 特徴抽出 / 飛行生物 / モデル予測制御 / UAV / 疑似ポテンシャル / Deep Lab Cut / 運動データ / 人工移動体 / 数理モデリング / 運動制御
Outline of Research at the Start

ウミネコやハチドリ等の鳥や昆虫の飛行動作時(着地や離陸、空中ホバリングや急旋回時など)の動画像データを収集し、その優れた飛行制御メカニズムを解析し、運動特性を抽出して数理モデル化する。続いて、このモデルに基づき、LQ最適制御等の一般的な制御法でのこれらの飛行動作の実現性を検証する。そのうえで、申請者がこれまで研究開発してきたモデル予測制御やスライディングモード制御を飛行生物の運動特性を融合させた新たな制御法として再構築し、次世代の人工移動体の基盤となる、安全で快適かつ柔軟で高度な運動制御技術として確立することを目指す。

Outline of Final Research Achievements

Based on the analysis of video data of takeoffs and landings of the black-tailed gull, the flight control mechanism of them is clarified and modeled, and developed an extended model predictive control method for application to the autonomous takeoff and landing flight of UAV (Unmanned Aerial Vehicle). In addition, based on video data analysis of the "mosquito column" phenomenon of swarms of the insect, Chironomidae, a model of swarm that takes into account their interaction, is derived aiming at the application to cooperative work by autonomous flight of multiple small UAV. The modeling and control methods developed in these studies have also been applied to multi-agent control problems and obstacle avoidance control for autonomous personal mobility vehicles.

Academic Significance and Societal Importance of the Research Achievements

見逃されがちな身近な生物の優れた運動機能に着目し、数理的手法と実験的手法を駆使して、その理学的解明と工学的応用にまたがった成果を挙げた点に学術的意義がある。画像データの解析から抽出した特徴に基づく数理モデリング手法の開発と、既存の制御理論をバイオミメティクスの視点から再検証、再構築することで、実用性を高めた運動制御手法として開発したことにより、次世代の自律人工移動体全般の安全で快適かつ柔軟で高度な運動制御のための基盤技術となることが期待でき、社会的にも意義がある。

Report

(5 results)
  • 2023 Annual Research Report   Final Research Report ( PDF )
  • 2022 Research-status Report
  • 2021 Research-status Report
  • 2020 Research-status Report
  • Research Products

    (8 results)

All 2023 2022 2021

All Journal Article (5 results) (of which Peer Reviewed: 3 results,  Open Access: 2 results) Presentation (3 results)

  • [Journal Article] Motion Control for an Autonomous Personal Mobility Using Angular Velocity Information of Obstacle and Variable Resolution of Potential Fields2023

    • Author(s)
      IWATANI Ryo、KAWABE Tohru
    • Journal Title

      Transactions of the Society of Instrument and Control Engineers

      Volume: 59 Issue: 6 Pages: 278-288

    • DOI

      10.9746/sicetr.59.278

    • ISSN
      0453-4654, 1883-8189
    • Related Report
      2023 Annual Research Report
  • [Journal Article] Power System Frequency Control Architecture Combining Open Charge Point Protocol and Electric Vehicle Model Predictive Charge Rate Control2022

    • Author(s)
      Kirihara Kenta、Kawabe Tohru
    • Journal Title

      IEEE Access

      Volume: 10 Pages: 104498-104511

    • DOI

      10.1109/access.2022.3211297

    • Related Report
      2022 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Motion Control for an Autonomous Personal Mobility Based on the Potential Field Considering the Motion Characteristics of Obstacles2021

    • Author(s)
      HIRASAWA Atsuki、AIHARA Ikkyu、KAWABE Tohru
    • Journal Title

      Transactions of the Society of Instrument and Control Engineers

      Volume: 57 Issue: 10 Pages: 421-432

    • DOI

      10.9746/sicetr.57.421

    • NAID

      130008116093

    • Related Report
      2021 Research-status Report
    • Peer Reviewed
  • [Journal Article] Novel Emission Dispatch for Adding Electric Vehicles and Renewable Energy Sources With Short-Term Frequency Stability2021

    • Author(s)
      Kirihara Kenta、Kawabe Tohru
    • Journal Title

      IEEE Access

      Volume: 9 Pages: 110695-110709

    • DOI

      10.1109/access.2021.3102470

    • Related Report
      2021 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Landing dynamics of a seagull examined by field observation and mathematical modeling2021

    • Author(s)
      Eisaki Yuri、Hikosaka Isamu、Kawabe Tohru、Aihara Ikkyu
    • Journal Title

      Nonlinear Theory and Its Applications, IEICE

      Volume: 12 Issue: 2 Pages: 205-224

    • DOI

      10.1587/nolta.12.205

    • NAID

      130008020136

    • ISSN
      2185-4106
    • Related Report
      2020 Research-status Report
  • [Presentation] 風速と風向に着目したウミネコの着地軌跡のパターン分け2022

    • Author(s)
      村社光誠,河辺徹,合原一究
    • Organizer
      日本鳥学会2022年度大会
    • Related Report
      2022 Research-status Report
  • [Presentation] アラナミキンクロの群れ行動モデルをもとにした電子連結車両の数値シミュレーション2022

    • Author(s)
      柴田智史,河辺徹,合原一究
    • Organizer
      電子情報通信学会非線形問題研究会
    • Related Report
      2022 Research-status Report
  • [Presentation] ウミネコの着地動作のデータ化とカテゴライズによる分析2022

    • Author(s)
      村社光誠,河辺徹,合原一究
    • Organizer
      日本生態学会第69回全国大会
    • Related Report
      2021 Research-status Report

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Published: 2020-04-28   Modified: 2025-01-30  

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