Autonomous Flight Control of Unmanned Small Hobby-Class Helicopter Report 1: Hardware Development and Verification Experiments of Autonomous Flight Control System

Daigo Fujiwara; Jinok Shin; Kensaku Hazawa; Kazuhiro Igarashi; Dilshan Fern; o; Kenzo Nonami

doi:10.20965/jrm.2003.p0537

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JRM Vol.15 No.5 pp. 537-545

doi: 10.20965/jrm.2003.p0537

(2003)

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Autonomous Flight Control of Unmanned Small Hobby-Class Helicopter Report 1: Hardware Development and Verification Experiments of Autonomous Flight Control System

Daigo Fujiwara^, Jinok Shin^, Kensaku Hazawa^, Kazuhiro Igarashi^, Dilshan Fernando^*, and Kenzo Nonami^**

^*Graduate School of Science And Technology, Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba 263-8522 Japan

^**Faculty of Engineering, China University

Received:

March 18, 2003

Accepted:

April 10, 2003

Published:

October 20, 2003

Keywords:

autonomous flight control, small unmanned hobby-class helicopter, hardware development, controller, hybrid control between autonomous and manual control equipment, verification experiment

Abstract

We detail hardware and firmware development for autonomous control of a small unmanned hobby-compatible small helicopter. Preserving compatibility with hobby products greatly reduces overall cost, including that for hardware development and system maintenance. The original concept in the development of hardware, firmware, and the operating system for autonomous control flight focuses on compatibility and adaptability with conventional hobby products. The newly-developed servopulse switching unit and the pulse generator realized this concept, implementing expandability and flexibility to control. Taking the small payload into account, we dramatically downsized helicopter hardware resulting in a 2.9 kgf controller. We verified correct control performance through simulation and experiments including guiddance flights.

Cite this article as:

D. Fujiwara, J. Shin, K. Hazawa, K. Igarashi, D. Fernando, and K. Nonami, “Autonomous Flight Control of Unmanned Small Hobby-Class Helicopter Report 1: Hardware Development and Verification Experiments of Autonomous Flight Control System,” J. Robot. Mechatron., Vol.15, No.5, pp. 537-545, 2003.

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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

Autonomous Flight Control of Unmanned Small Hobby-Class Helicopter Report 1: Hardware Development and Verification Experiments of Autonomous Flight Control System

Daigo Fujiwara*, Jinok Shin*, Kensaku Hazawa*, Kazuhiro Igarashi*, Dilshan Fernando*, and Kenzo Nonami**

Daigo Fujiwara^, Jinok Shin^, Kensaku Hazawa^, Kazuhiro Igarashi^, Dilshan Fernando^*, and Kenzo Nonami^**