2P2-C07 未知風外乱中を航行する自律飛行船の三次元障害物回避

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概要

• 論文の詳細を見る

• The density of a blimp-type unmanned aerial vehicle (BUAV) must equal that of the surrounding air. Because of this, the motion of a BUAV is seriously affected by flow disturbances, whose distribution is usually non-uniform and unknown. In addition, the inertia in the heading motion is very large. There is also a strict limitation on the weight of equipment in the BUAV, so most BUAVs are so-called under-actuated robots. From this situation, it can be said that the motion planning of the BUAV considering the stochastic property of the disturbance is needed for obstacle avoidance. In this paper, I propose an approach to the motion planning of the BUAV via the application of Markov decision process (MDP). The proposed approach consists of a method to prepare a discrete MDP model of the BUAV motion and a method to maintain the effect of the unknown wind on the BUAVs motion. The performance of the methods is examined by dynamical simulation of the BUAV in the environment with wind disturbance.

• 一般社団法人日本機械学会の論文

著者

• 川野 洋

  日本電信電話株式会社

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• 2P2-C07 未知風外乱中を航行する自律飛行船の三次元障害物回避

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