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.

fYear

2006

Firstpage

1279

Lastpage

1284

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;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE-ICASE, 2006. International Joint Conference

Conference_Location

Busan

Print_ISBN

89-950038-4-7

Electronic_ISBN

89-950038-5-5

Type

conf

DOI

10.1109/SICE.2006.315438

Filename

4109161