1A2-O08 屋内環境における飛行ロボットの自己位置推定と自律飛行に関する研究(飛行ロボット・メカトロニクス)

概要

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MAVs and small UAVs are useful for the information gathering in the urban environment and indoor environment. In these environments, a recognition system which utilize external sensor is required because collision and GPS fault are possible. The laser range finder has been utilized but it will be an obstruction of flying robot's miniaturization because it is heavy. Therefore in this study, we develop localization and autonomous control algorithms by utilizing some lightweight JR distance sensors. This paper describes about a localization algorithm which based known environment and 4 IR distance sensors. And by using this algorithm, an experiment of localization was carried out.
一般社団法人日本機械学会の論文
2011-05-26