Clarification of Mechanism of Autonomous Behavior for Environment Adaptation and its Realization

2016 Fiscal Year Final Research Report

• 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
• 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

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.

Free Research Field

制御工学