Fuzzy Control for a Kite-Based Tethered Flying Robot
Fuzzy Control for a Kite-Based Tethered Flying Robot
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DOI：
10.20965/jaciii.2015.p0349
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发表时间：
2015-05
期刊：
影响因子：
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通讯作者：
Yasutake Takahashi;Tohru Ishii;Chiaki Todoroki;Y. Maeda;Takayuki Nakamura
中科院分区：
文献类型：
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作者：
Yasutake Takahashi;Tohru Ishii;Chiaki Todoroki;Y. Maeda;Takayuki Nakamura
在大规模或危险的救援活动中，从上方提供信息的观察是重要的。这是从气球或飞机上完成的。气球观测需要氦气等气体，准备时间相对较长，而飞机观测可以在相对较短的时间内准备好，并且具有高度移动的性，飞行时间取决于飞机可以携带的燃料量。我们已经提出并开发了一种基于风筝的系绳机器人，它补充了气球和飞机的观察，同时提供了短的准备时间和长的飞行时间[1]。我们的研究目标是由风筝，光单元，系绳和地面控制单元与绕线机组成的自主光信息收集。我们建议我们的机器人的启发，风筝的模糊控制器。
Observation providing information from above is important in in large-scale or dangerous rescue activity. This has been done from balloons or airplanes. Balloon observation requires a gas such as helium and takes a relatively long time to prepare, and while airplane observation can be prepared in a relatively short time and is highly mobile, flight time depends on the amount of fuel a plane can carry. We have proposed and developed a kite-based tethered flying robot that complements balloon and airplane observation while providing a short preparation time and long flight time [1]. The objective of our research is autonomous flight information gathering consisting of a kite, a flight unit, a tether and a ground control unit with a line-winding machine. We propose fuzzy controllers for our robot that are inspired by kite flying.