Autonomous Flight Control System for Intelligent Aero-robot for Disaster Prevention
Hiroaki Nakanishi*, Hiroyuki Hashimoto*, Naomi Hosokawa*, Koichi Inoue**, and Akira Sato***
*Graduate School of Engineering, Kyoto University, Yoshidahonmachi, Sakyo-ku, Kyoto, 606-8501 Japan
**Osaka Sangyo University, 3-1-1 Nakagaito, Daito City, Osaka, 574-8530 Japan
***YAMAHA MOTOR CO., LTD. 2500 Shingai, Iwata, Shizuoka, 438-8501 Japan
This paper describes methods to develop autonomous flight control systems for an aero-robot using an unmanned helicopter RMAX developed by YAMAHA Co., LTD. Such systems are difficult to develop because helicopter dynamics are nonlinear. We propose an efficient method to design controllers by training neural networks. The proposed method is easy to use with online training or adaptive controllers to compensate for undesirable effects not modeled or sudden changes of the controlled object and environment, making the control system highly reliable. Results of flight experiments demonstrate the effectiveness of our approach.
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