Okinawa型Droneのためのプレイバック自律飛行方式の提案

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2015/02/01

タイトル(英語): Proposal of Autonomous Playback Navigation System for an Okinawa-Style Drone

著者名: 城間　栄一（沖縄工業高等専門学校），荻堂　修太（沖縄工業高等専門学校），大城　創（沖縄工業高等専門学校），知念　央久（沖縄工業高等専門学校），タンスリヤボン　スリヨン（沖縄工業高等専門学校），姉崎　隆（沖縄工業高等専門学校）

著者名(英語): Eiichi Shiroma (Okinawa National College of Technogy), Shuta Ogidou (Okinawa National College of Technogy), So Oshiro (Okinawa National College of Technogy), Hiroku Chinen (Okinawa National College of Technogy), Suriyon Tansuriyavong (Okinawa National College of Technogy), Takashi Anezaki (Okinawa National College of Technogy)

キーワード: Okinawa型Drone，人追随基本経路教示，プレイバック自律飛行方式，Air-odometry　　Okinawa-style drone，human-following basic path-teaching，autonomous playback navigation system，air-odometry

要約(英語): The purpose of this research was to develop the basic concepts needed for an experimental ‘human-friendly’ drone that can enable flexible flight and support tourism. The developed concept is to design a drone capable of autonomous transfer and intelligent operation by performing operations as instructed in response to a call from an operator. The drone learns a safe path by following human instructions and then plays back the learned information while autonomously flying along the learned path. We call this system “playback navigation”.While systems for mobile robots have used odometry for robot position detection, we used the new “Air-odometry”, which detects the drone's position by calculating it from acceleration sensors. Air-odometry is also used by the drone to learns a safe path by following a human instructions. A linear approximation of the result is calculated and used as the path during autonomous playback navigation.To enable autonomous navigation around corners of the learned path for which even SLAM algorithms tend to generate errors, we placed a camera-driven position correction landmark at each corner. We were able to get good results.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.135 No.2 （2015） 特集：Okinawa型ロボット組み込み/サスティナブルシステム

本誌掲載ページ: 125-131 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/135/2/135_125/_article/-char/ja/