Clarification of Mechanism of Autonomous Behavior for Environment Adaptation and its Realization
| Project/Area Number |
25820185
|
|---|
| Research Category |
Grant-in-Aid for Young Scientists (B)
|
| Allocation Type | Multi-year Fund |
|---|
| Research Field |
Control engineering/System engineering
|
|---|
| Research Institution | Osaka Prefecture University |
|---|
Principal Investigator |
Sayaka KANATA 大阪府立大学, 工学(系)研究科(研究院), 助教 (60605567)
|
|---|
| Project Period (FY) |
2013-04-01 – 2017-03-31
|
| Project Status |
Completed (Fiscal Year 2016)
|
| Budget Amount *help |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2016: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2015: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2014: ¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
Fiscal Year 2013: ¥520,000 (Direct Cost: ¥400,000、Indirect Cost: ¥120,000)
|
|---|
| Keywords | 自己状態推定の高精度化 / 気圧高度推定 / 自律飛行ロボット / 気圧高度 / 機械学習 / 自律無人ヘリコプタ / 高精度推定 / 非線形運動 / クアドロータヘリコプタ / 地面効果 / 粒子フィルタ / 姿勢推定 / 位置同定 / 自律的状態推定 / 屋内 / 飛行ロボット / 往復伝播時間 |
|---|
| Outline of Final Research Achievements |
Estimation method for autonomous multi-rotor-helicopters was proposed. The proposed method was applied to quadrotor helicopters of self-built. It was verified that the proposed method can realize autonomous flight. In order to establish indoor autonomous flight, estimation method using barometers was also proposed. Using more than one barometers, it was proved that the proposed method can improve altitude estimation compared by that with single barometer. Experiment with quadrotor helicopters verified that the proposed method works well and it is useful in case that temperature cannot be measured. This research also developed a method of estimation based on radio waves. The proposed method provides accurate estimation with smaller amount of calculation than conventional methods.
|
Report
(5 results)
Research Products
(14 results)
