| 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)
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| 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.
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