Title :
Development of an intelligent unmanned helicopter
Author :
Sugeno, M. ; Hirano, I. ; Nakamura, S. ; Kotsu, S.
Author_Institution :
Lab. for Int. Fuzzy Eng. Res., Yokohama, Japan
Abstract :
This paper describes the current status of and recent results from LIFE and the Sugeno Laboratory project on autonomous control of an unmanned helicopter. A fuzzy-logic-based control system has been developed that enables single inputs (e.g. voice commands) to replace the aircraft´s normal set of rudder, collective, longitudinal cyclic, and lateral cyclic control inputs. This development has enabled us to demonstrate that a novice can use such a system to effectively control an unmanned helicopter without prior knowledge of the vehicle´s flight dynamics. A set of sensors including an inertial flight measurement unit, microwave speed meters, a laser height meter, and a magnetic azimuth sensor have been installed on the aircraft to provide measurements of position, attitude, and higher-order kinematic information. In addition, a movable CCD camera and on-board image processing unit have been added to extract information about the helicopter´s visual environment
Keywords :
aircraft control; computer vision; fuzzy control; helicopters; intelligent control; navigation; CCD camera; LIFE; Sugeno Laboratory project; autonomous control; fuzzy logic control; image processing unit; inertial flight measurement unit; intelligent unmanned helicopter; laser height meter; magnetic azimuth sensor; microwave speed meters; sensors; Aerospace control; Aircraft; Control systems; Helicopters; Laboratories; Magnetic sensors; Masers; Measurement units; Microwave sensors; Vehicle dynamics;
Conference_Titel :
Fuzzy Systems, 1995. International Joint Conference of the Fourth IEEE International Conference on Fuzzy Systems and The Second International Fuzzy Engineering Symposium., Proceedings of 1995 IEEE Int
Conference_Location :
Yokohama
Print_ISBN :
0-7803-2461-7
DOI :
10.1109/FUZZY.1995.410029