近年，小型ドローンは機体が小さいことから，人間が入れないような狭小空間での利用が検討されている．しかし，狭小空間では遮蔽物が多いため，操縦者の死角領域内でドローンを飛行させる必要があり，十分に周辺を監視することができず，安全なドローン操縦は困難である．そのため，高い安全性が求められる点検現場や，迅速な対応が求められる災害現場のような狭小空間では，安全で迅速にドローンを飛行できる快適な操縦性が必要となる．そこで，操縦者とドローンの間に遮蔽物が存在し，ドローンを視認できない狭小空間に対してARを利用することで，操縦を支援する方式を検討する．本論文では，三次元環境地図を事前に作成し，遮蔽物により視認できない空間，ドローンを可視化したうえで，ARを用いたドローン近傍の障害物を知覚する方式を提案し，従来の操縦とARを用いた方式を比較し，評価した．その結果，ARありの方式では一貫して平均操縦時間，平均衝突警告回数が減少し，操縦性の向上を示した．

In recent years, small drones have been examined to play an active role in narrow spaces where humans cannot enter due to the small size of the spaces. However, it is difficult to control the drone within the pilot's blind spot where there are many obstructions in a small space. In addition, small drones are limited in sensor installation, and it is difficult to autonomously avoid obstacle. Therefore, it is desired to enable the safe and quick maneuverability of drone in confined spaces, at inspection sites with high risk of collision, and at disaster sites where quick response is required. Augmented Reality can address these issues for the environments where the drone cannot be seen due to the presence of obstructions between the operator and the drone. In this paper, we propose a method of perceiving obstacles in the vicinity of a drone using AR by means of creating a three-dimensional map of the environment in advance and visualizing the space and drone that cannot be seen due to obstructions. As a result, the average maneuvering time and the average number of collision warnings were consistently reduced in the performance of the method with AR, indicating an improvement in maneuverability.