超小型・超軽量マイクロフライングロボットのモデリングと自律制御 [in Japanese] Modeling and Autonomous Control of Microminiature Ultra-Small Scale/Light Weight Micro-Flying Robot [in Japanese]
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In case of natural disaster like earthquake, Micro-Flying Robot (μFR) will be very effective for surveying the site and environment in dangerous area or narrow space, where human cannot access safely. In addition, it will be a help to prevent secondary disaster. This paper is concerned with modeling and autonomous control of μFR. However, since μFR is very small and light, sensors, such as GPS, cannot be carried. So the 3D position of μFR is measured by using one CCD camera to recognizing a marker attached to μFR. And we adopted the PID control which the performance can be raised by tuning even there is no model. But about the direction X and Y, it is not easy to find the gain of the PID controller, so at first we do the modeling by system identification and design the model base controller.
JRSJ 25(1), 121-129, 2007-01-15
The Robotics Society of Japan