書誌事項
- タイトル別名
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- Modeling and Autonomous Control of Small Co-axial Helicopter using Stereo Vision Camera
- ステレオ ビジョン カメラ オ モチイタ ドウジク 2ジュウ ハンテンシキ ヘリコプタ ノ モデリング ト ジリツ ヒコウ セイギョ
この論文をさがす
抄録
MAV (Micro Air Vehicle) will be very effective for gathering information in dangerous area or narrow space.In that case, autonomous control is essential. This paper is concerned with autonomous control of small co-axial helicopter: X.R.B. Horizontal acceleration is decided by force from lower rotor and upper rotor. Direction of the force is decided by angle of rotation surface of lower rotor, upper rotor and stabilizer. Therefore the model which physical meaning of parameter is clear can be constructed. Control system is constructed by LQI controller and Kalman filter using the model. Good control performance is achieved by experiment. 3D position of X.R.B is measured by using stereo vision camera and 3-axis attitude is measured by small attitude sensor.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 26 (6), 643-650, 2008
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679701661696
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- NII論文ID
- 10024269566
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
- http://id.crossref.org/issn/02891824
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- NDL書誌ID
- 9649393
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可