2A2-A02 マイクロヘリコプタの飛行安定化制御(飛行ロボット・メカトロニクス)

概要

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Recently, there are a lot of research on swarm intelligence using multiple mobile robots. In most of the research, the mobile robots detect their own position based on visual information of video cameras fixed to a ceiling. However, since the video cameras are fixed to a ceiling, there is a problem that the experimental field is limited. The goal of our research is to support the detection of the robots' position by using micro-helicopter with a micro-camera to extend the experimental field freely. As the first step to the goal, this paper presents flight control of micro helicopter with coaxial counter-rotating blades. By employing fuzzy control approach to control the helicopter, we achieve hovering control and path-following control of the helicopter.
一般社団法人日本機械学会の論文
2007-05-11