Environmental Adaptive Flight Control for Autonomous Aero-robot Base on Order and Hierarchy Formation

• Project/Area Number: 21360116
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Kyoto University
• Principal Investigator: NAKANISHI Hiroaki 京都大学, 大学院・工学研究科, 講師 (50283635)
• Co-Investigator(Kenkyū-buntansha): KANATA Sayaka 大阪府立大学, 大学院・工学研究科, 助教 (60605567)
• Project Period (FY): 2009 – 2011
• Project Status: Completed (Fiscal Year 2011)
• Budget Amount: ¥9,360,000 (Direct Cost: ¥7,200,000、Indirect Cost: ¥2,160,000); Fiscal Year 2011: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000); Fiscal Year 2010: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000); Fiscal Year 2009: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
• Keywords: エアロロボット / 自律飛行制御 / 環境適応 / ロバスト性 / 階層制御 / 自立飛行制御 / 複合航法 / 自己状態推定 / ローバー / 秩序・階層形成 / 状態推定

Research Abstract

We developed a precise navigation system for an autonomous aero-robot, and it is proved that environmental changes can be detected by use of the navigation system. We also proposed a method to design environmental adaptive robust flight control system based on the formation of hierarchy. The effectiveness of the proposed method was confirmed through not only numerical simulations but also flight experiments using the autonomous aero-robot.

Research Products

• [Journal Article] Improved Stability using Environmental Adaptive Yaw Control for Autonomous Unmanned Helicopter and Bifurcation of Maneuvering in Turning (2011)
  • Author(s): Hiroaki Nakanishi, Sayaka Kanata and Tetsuo Sawaragi
  • Journal Title: Journal of Robotics and Mechatronics Volume: Vol.23, No.6 Pages: 1091-1099
• [Journal Article] Improved Stability using Environmental Adaptive Yaw Control for Autonomous Unmanned Helicopter and Bifurcation of Maneuvering in Turning (2011)
  • Author(s): Hiroaki Nakanishi, Sayaka Kanata, Tetsuo Sawaragi
  • Journal Title: Journal of Robotics and Mechatronics Volume: 7 Pages: 1091-1099
  • Peer Reviewed
• [Journal Article] 往復伝搬時間測定による小天体の自転運動およびローバ位置の推定法 (2010)
  • Author(s): 金田さやか, 中西弘明, 椹木哲夫
  • Journal Title: 計測自動制御学会論文集 Volume: 第46巻5号 Pages: 296-305
• [Journal Article] 自律型無人ヘリコプタの環境適応方位制御 (2010)
  • Author(s): 中西弘明, 金田さやか, 椹木哲夫, 堀口由貴男
  • Journal Title: 計測自動制御学会論文集 Volume: 第46巻1号 Pages: 8-15
  • NAID: 10026207583
• [Presentation] 無人ヘリコプタのための地面効果を考慮した複合航法システム (2011)
  • Author(s): 中西弘明, 金田さやか, 椹木哲夫
  • Organizer: 第12回公益社団法人計測自動制御学会システムインテグレーション部門講演会
  • Place of Presentation: 京都大学,京都市
  • Year and Date: 2011-12-23
• [Presentation] 無人ヘリコプタにおける地面効果とそれを考慮した複合航法システム (2011)
  • Author(s): 中西弘明, 金田さやか, 椹木哲夫
  • Organizer: 第48回日本航空宇宙学会関西・中部支部合同秋期大会
  • Place of Presentation: 神戸市産業振興センター,神戸市
  • Year and Date: 2011-11-25
• [Presentation] Measurement Model of Barometer in Ground Effect of Unmanned Helicopter and Its Application to Estimate Terrain Clearance (2011)
  • Author(s): Hiroaki Nakanishi, Sayaka Kanata, Testsuo Sawaragi
  • Organizer: 9th IEEE International Symposium on Safety, Security and Rescue Robotics(SSRR2011)
  • Place of Presentation: 京都大学,京都市
  • Year and Date: 2011-11-04
• [Presentation] Accurate Localization for Space Rovers and Its Computational Reduction (2011)
  • Author(s): Sayaka Kanata, Hiroaki Nakanishi, Tetsuo Sawaragi
  • Organizer: the 18th IFAC World Congress Milano
  • Place of Presentation: Universita Cattolica del Sacro Cuore, Milano, Italy
  • Year and Date: 2011-09-01
• [Presentation] 無人ヘリコプタの自律飛行制御 (2011)
  • Author(s): 中西弘明
  • Organizer: 日本航空宇宙学会関西支部
  • Place of Presentation: 京都大学・京都市
  • Year and Date: 2011-07-15
• [Presentation] 地面効果を利用した無人ヘリコプタの対地高度推定 (2011)
  • Author(s): 中西弘明, 金田さやか, 椹木哲夫
  • Organizer: ロボティクス・メカトロニクス講演会2011
  • Place of Presentation: 岡山コンベンションセンター,岡山市
  • Year and Date: 2011-05-27
• [Presentation] Environmental Adaptive Yaw Control for Autonomous Unmanned Helicopter and Bifurcation of Maneuvering in Turning (2011)
  • Author(s): Hiroaki Nakanishi
  • Organizer: Japan-Tag in Heidelberg
  • Place of Presentation: University of Heidelberg, Mannheim, Germany
  • Year and Date: 2011-04-28
• [Presentation] 環境適応による自律型無人ヘリコプタの安定性向上と旋回法の自律的選択 (2011)
  • Author(s): 金田さやか, 中西弘明, 椹木哲夫
  • Organizer: 16th ROBOTICS Symposia
  • Place of Presentation: 鹿児島市
  • Year and Date: 2011-03-15
• [Presentation] 無人ヘリコプタの自律飛行制御とその応用 (2011)
  • Author(s): 中西弘明
  • Organizer: 大阪電気通信大学メカトロニクス基礎研究所
  • Place of Presentation: 寝屋川市(招待講演)
  • Year and Date: 2011-03-09
• [Presentation] 自律型無人ヘリコプタの開発とその防災活動への応用 (2011)
  • Author(s): 中西弘明
  • Organizer: 京都大学京機会
  • Place of Presentation: 大阪市(招待講演)
  • Year and Date: 2011-01-15
• [Presentation] 自律型無人ヘリコプタの開発とその防災・災害対応活動に関する研究 (2011)
  • Author(s): 中西弘明
  • Organizer: 国際レスキューシステム研究機構
  • Place of Presentation: 神戸市(招待講演)
  • Year and Date: 2011-01-14
• [Presentation] Measurement Model of Barometer in Ground Effect of Unmanned Helicopter and Its Application to Estimate Terrain Clearance (2011)
  • Author(s): Hiroaki Nakanishi, Sayaka Kanata and Testsuo Sawaragi
  • Organizer: Proceedings of 9th IEEE International Symposium on Safety, Security and Rescue Robotics
• [Presentation] 無人ヘリコプタの自律飛行制御 (2011)
  • Author(s): 中西弘明
  • Organizer: 日本航空宇宙学会・関西支部主催第432回航空懇談会
• [Presentation] Environmental Adaptive Yaw Control for Autonomous Unmanned Helicopter and Bifurcation of Maneuvering in Turning (2011)
  • Author(s): Hiroaki Nakanishi
  • Place of Presentation: Japan-Tag in Heidelberg
• [Presentation] 無人ヘリコプタの自律飛行制御とその応用 (2011)
  • Author(s): 中西弘明
  • Organizer: 第8回知能ロボットの最前線-空を飛ぶロボティクス-
• [Presentation] 自律型無人ヘリコプタの開発とその防災・災害対応活動に関する研究 (2011)
  • Author(s): 中西弘明
  • Organizer: 第6回竸基弘授賞記念講演会
• [Presentation] 自律型エアロロボットの開発とその防災活動への応用 (2011)
  • Author(s): 中西弘明
  • Organizer: 平成23年度京機会関西支部第二世紀記念事業会
• [Presentation] 地面効果を利用した無人ヘリコプタの対地高度推定 (2010)
  • Author(s): 中西弘明, 金田さやか, 椹木哲夫
  • Organizer: SICEシステムインテグレーション部門学術講演会2010
  • Place of Presentation: 仙台市
  • Year and Date: 2010-12-24
• [Presentation] 伝播時間によるローバ位置推定における計算量削減法 (2010)
  • Author(s): 金田さやか, 中西弘明, 椹木哲夫
  • Organizer: SICEシステム・情報部門学術講演会2010
  • Place of Presentation: 京都市
  • Year and Date: 2010-11-25
• [Presentation] Environmental Adaptive Yaw Control for Autonomous Unmanned Helicopter and Bifurcation of Maneuvering in Turning (2010)
  • Author(s): Hiroaki Nakanishi, Sayaka Kanata, Tetsuo Sawaragi
  • Organizer: World Automation Congress 2010
  • Place of Presentation: 神戸市
  • Year and Date: 2010-09-22
• [Presentation] Experimental Studies of Localization Method using Round-Trip Range Measurements (2010)
  • Author(s): Sayaka Kanata, Hiroaki Nakanishi , Tetsuo Sawaragi
  • Organizer: World Automation Congress 2010
  • Place of Presentation: 神戸市
  • Year and Date: 2010-09-20
• [Presentation] Man-Machine System Model for Remote Control in Uncertain Environment (2010)
  • Author(s): Kanata, Hiroaki Nakanishi, Tetsuo Sawaragi
  • Organizer: The 11th IFAC/IFIP/IFORS/IEA Symposium on Analysis, Design, and Evaluation of Human-Machine Systems
  • Place of Presentation: フランス・バレンシエンヌ
  • Year and Date: 2010-08-31
• [Presentation] 電波を用いた往復伝播時間測定による位置同定法の実験的研究 (2010)
  • Author(s): 金田さやか, 中西弘明, 椹木哲夫
  • Organizer: ロボティクス・メカトロニクス講演会2010
  • Place of Presentation: 旭川市
  • Year and Date: 2010-06-15
• [Presentation] 自律型無人ヘリコプタの環境適応旋回 (2010)
  • Author(s): 中西弘明, 金田さやか, 椹木哲夫, 堀口由貴男
  • Organizer: ロボティクス・メカトロニクス講演会2010
  • Place of Presentation: 旭川市
  • Year and Date: 2010-06-15
• [Presentation] Estimation of Magnetic Declination Angle using Reduced QUEST for an Unmanned Aerial Vehicle (2010)
  • Author(s): Hiroaki Nakanishi, Sayaka Kanata, Tetsuo Sawaragim, Yukio Horiguchi
  • Organizer: IEEE-Internainal Conference on Industrial Technology(ICIT 2010 in Chile)
  • Place of Presentation: チリ・Vina del Mar
  • Year and Date: 2010-03-16
• [Presentation] Environmental Adaptive Yaw Control for Autonomous Unmanned Helicopter and Bifurcation of Maneuvering in Turning (2010)
  • Author(s): Hiroaki Nakanishi, Sayaka Kanata and Tetsuo Sawaragi
  • Organizer: World Automation Congess 2010(WAC2010 in Kobe)
• [Presentation] Experimental Studies of Localization Method using Round-Trip Range Measurements (2010)
  • Author(s): Sayaka Kanata, Hiroaki Nakanishi and Tetsuo Sawaragi
  • Organizer: World Automation Congess
• [Presentation] Estimation of Magnetic Declination Angle using Reduced QUEST for an Unmanned Aerial Vehicle (2010)
  • Author(s): Hiroaki Nakanishi, Sayaka Kanata, Tetsuo Sawaragim and Yukio Horiguchi
  • Organizer: Proc. of IEEE-Internainal Conference on Industrial Technology
• [Presentation] 自律型無人ヘリコプタの環境適応方位角制御とその改善方法 (2009)
  • Author(s): 中西弘明, 金田さやか, 椹木哲夫, 堀口由貴男
  • Organizer: 計測自動制御学会SI部門学術講演会
  • Place of Presentation: 東京
  • Year and Date: 2009-12-24
• [Presentation] 小天体の自転運動と探査ローバの高精度位置推定 (2009)
  • Author(s): 金田さやか, 中西弘明, 椹木哲夫
  • Organizer: 計測自動制御学会システム・情報部門学術講演会2009
  • Place of Presentation: 横浜市
  • Year and Date: 2009-11-21
• [Presentation] Localization of a Space Rover and Estimation of Rotational Parameters without Calculating Derivatives (2009)
  • Author(s): Sayaka Sayaka Kanata, Hiroaki Nakanishi, Tetsuo Sawaragi
  • Organizer: 14th IASTED International Conference on Robotics and Applications(RA2009)
  • Place of Presentation: アメリカ・ケンブリッジ
  • Year and Date: 2009-11-03
• [Presentation] Localization of a Space Rover on a Small Planetary Body with Uncertain Rotation (2009)
  • Author(s): Sayaka Sayaka Kanata, Hiroaki Nanakanishi, Tetsuo Sawaragi
  • Organizer: The IASTED International Conference on Modelling, Simulation and Identification(MSI2009)
  • Place of Presentation: 中国・北京
  • Year and Date: 2009-10-13
• [Presentation] Localization Method of Space Robot with Two-Way Range under Uncertainties in Rotational Parameters (2009)
  • Author(s): Sayaka Kanata, Hiroaki Nakanishi, Tetsuo Sawaragi
  • Organizer: ICROS-SICE International Joint Conference 2009
  • Place of Presentation: 福岡市
  • Year and Date: 2009-08-20
• [Presentation] 自律型無人ヘリコプタの適応方位角制御 (2009)
  • Author(s): 中西弘明, 金田さやか, 椹木哲夫, 堀口由貴男
  • Organizer: ロボティクス・メカトロニクス講演会2009
  • Place of Presentation: 福岡市
  • Year and Date: 2009-05-25
• [Presentation] 天体の自転運動の不確かさを考慮した伝搬遅延時間測定による探査ローバ位置同定 (2009)
  • Author(s): 金田さやか, 中西弘明, 椹木哲夫
  • Organizer: ロボティクス・メカトロニクス講演会2009
  • Place of Presentation: 福岡市
  • Year and Date: 2009-05-25
• [Book] 無人飛行体 (2011)
  • Author(s): 中西弘明
  • Publisher: オーム社
• [Book] オーム社 (2011)
  • Author(s): 一般社団法人日本ロボット学会
  • Total Pages: 304
  • Publisher: ロボットテクノロジー(第2編5章「無人飛行体」を分担)
• [Book] Rescue Robotics-DDT Project on Robots and Systems for Urban Search and Rescue- (2009)
  • Author(s): Satoshi Tadokoro, Masahiro Onosato, Hiroaki Nakanishi, Kenzo Nonami, Kuniaki Kawabata, Yasushi Hada, Hajime Asama, Fumiaki Takemura, Kiyoshi Maeda Kenjiro Miura and Atsushi Yamashita
  • Publisher: Springer London
• [Remarks]
  • URL: http://www.syn.me.kyoto-u.ac.jp/ja/