Title :
Autonomous Flight Control for a Small RC Helicopter ~A Measurement System with an EKF and a Fuzzy Control via GA-Based Learning~
Author :
Tanaka, Toshikazu ; Sasaki, Daisuke ; Matsumiya, Kentaro ; Morikuni, Yuichiro ; Kato, Kiyotaka
Author_Institution :
Dept. of Electr. Eng., Tokyo Univ. of Sci.
Abstract :
To realize the autonomous flight control of an RC helicopter, this paper proposes a vision system with an extended Kalman filter and an automatic rule generation using genetic algorithm. A small helicopter is equipped with four LEDs as markers, and an EKF is formulated to enhance precision. Furthermore, fuzzy rules are automatically generated by using a genetic algorithm in a virtual world. This virtual world is realized by a delicately developed flight simulator. Consequently, this paper clearly shows that the small RC helicopter can hover
Keywords :
Kalman filters; aerospace control; aerospace simulation; computer vision; fuzzy control; fuzzy reasoning; genetic algorithms; helicopters; learning systems; measurement systems; remotely operated vehicles; GA-based learning; LED; automatic rule generation; autonomous flight control; extended Kalman filter; flight simulator; fuzzy control; measurement system; small RC helicopter; virtual world; vision system; Aerospace control; Attitude control; Cameras; Control systems; Fuzzy control; Genetic algorithms; Helicopters; Light emitting diodes; Position measurement; Radio control; autonomous flight control; extended Kalman filter; helicopter; measurement;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.315438
