3937 小型制御モジュールによる飛行ロボットの自動飛行(J18-2 自律型グラウンドビークル,エアビークルの新展開(2),J18 自律型グラウンドビークル,エアビークルの新展開,2005年度年次大会)

概要

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A flight control system for mini-unmanned aerial vehicles has been developed based on the flight control module. It consists of the longitudinal/lateral controller (LC) by the non-linear control algorithm, and the guidance and the navigation controller (GNC) for the specified flight path, using the GPS receiver, the three gyros, and the 3-axis accelerometer mounted on the control module. The GNC is designed to achieve the autonomous flight control by generating the adaptive reference for the LC with changing the flight condition of the vehicle. The performance of the GNC was evaluated by the flight tests involving the automatic take-off and the automatic landing. In this paper, the proposed GNC of the vehicle and the test results for the specified flight path are shown.
2005-09-18