Autonomous Flying Robots - Nonami, Kenzo

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Résumé :
The advance in robotics has boosted the application of autonomous vehicles to perform tedious and risky tasks or to be cost-effective substitutes for their - man counterparts. Based on their working environment, a rough classi cation of the autonomous vehicles would include unmanned aerial vehicles (UAVs), - manned ground vehicles (UGVs), autonomous underwater vehicles (AUVs), and autonomous surface vehicles (ASVs). UAVs, UGVs, AUVs, and ASVs are called UVs (unmanned vehicles) nowadays. In recent decades, the development of - manned autonomous vehicles have been of great interest, and different kinds of autonomous vehicles have been studied and developed all over the world. In part- ular, UAVs have many applications in emergency situations; humans often cannot come close to a dangerous natural disaster such as an earthquake, a ood, an active volcano, or a nuclear disaster. Since the development of the rst UAVs, research efforts have been focused on military applications. Recently, however, demand has arisen for UAVs such as aero-robotsand ying robotsthat can be used in emergency situations and in industrial applications. Among the wide variety of UAVs that have been developed, small-scale HUAVs (helicopter-based UAVs) have the ability to take off and land vertically as well as the ability to cruise in ight, but their most importantcapability is hovering. Hoveringat a point enables us to make more eff- tive observations of a target. Furthermore, small-scale HUAVs offer the advantages of low cost and easy operation.

Biographie:
Vice President and Professor, Chiba University

Sommaire:
Modeling and Control of Small and Mini Rotorcraft UAVs.- Fundamental Modeling and Control of Small and Miniature Unmanned Helicopters.- Autonomous Control of a Mini Quadrotor Vehicle Using LQG Controllers.- Development of Autonomous Quad-Tilt-Wing (QTW) Unmanned Aerial Vehicle: Design, Modeling, and Control.- Linearization and Identification of Helicopter Model for Hierarchical Control Design.- Advanced Flight Control Systems for Rotorcraft UAVs and MAVs.- Analysis of the Autorotation Maneuver in Small-Scale Helicopters and Application for Emergency Landing.- Autonomous Acrobatic Flight Based on Feedforward Sequence Control for Small Unmanned Helicopter.- Mathematical Modeling and Nonlinear Control of VTOL Aerial Vehicles.- Formation Flight Control of Multiple Small Autonomous Helicopters Using Predictive Control.- Guidance and Navigation of Short-Range UAVs.- Guidance and Navigation Systems for Small Aerial Robots.- Design and Implementation of Low-Cost Attitude Quaternion Sensor.- Vision-Based Navigation and Visual Servoing of Mini Flying Machines.- Autonomous Indoor Flight and Precise Automated-Landing Using Infrared and Ultrasonic Sensors.