1P1-F13 ビジュアルサーボを用いた小型ヘリコプタの操縦支援システム(飛行ロボット・メカトロニクス)

概要

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This paper proposes an assistant and training system for controlling an unmanned helicopter. The unmanned helicopter does not have any sensors which measure its position or posture. Stationary cameras are placed on the flight field. The helicopter is controlled by using a visual servo technique as follows. An operator steers the helicopter using a controller. The controller makes reference signals. The assistant system designs control signals such that the helicopter tracks the reference signals. The proposed system has the following four functions: automatic takeoff and landing, control channel selection, flight in a desired area, and automatic motion generation. They enable beginners to control an unmanned helicopter.
一般社団法人日本機械学会の論文
2008-06-06