1A2-E15 搭載カメラのみを用いた屋内用小型ヘリコプタの自己位置・姿勢推定と飛行制御

概要

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This paper presents vision based flight control of an indoor micro helicopter in the corridor of buildings. Since the helicopter has limited payload, a small single wireless camera is employed on a sole sensor device. Visual information obtained by the camera is used to estimate position of the helicopter related to the corridor. We focus on edge lines between walls and floor of the corridor and vanishing points on the shot image. Real time measurement and flight control are performed with the real indoor micro helicopter. At the first step, the experiments are held in the ideal environment which is simulated to the corridor and autonomous hovering flight was succeeded. Finally, we have experiments in the real corridor and achieve hovering flight and straight-ahead fight control.
一般社団法人日本機械学会の論文
2009-05-25