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Development of Autonomous Aero-Robot and Its Application to Safety and Disaster Prevention

自主航空机器人的研制及其在安全防灾中的应用

基本信息

批准号：
12359002
负责人：
INOUE Koichi
金额：
$ 21.89万
依托单位：
KYOTO UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (A)
财政年份：
2000
资助国家：
日本
起止时间：
2000 至 2002
项目状态：
已结题

项目摘要

The objective of this research is to develop a complete autonomous aero-robot, which can support various activities in an occasion of disaster such as large earthquakes, fires, and volcanic eruption.In the first year, not only the basic design and development of the hardware of the aero-robot but also development of the flight simulator were carried out. GPS-INS hybrid navigation system, which is necessary for advanced flight control systems, was developed and the error of the position is reduced to only 2 cm. Moreover methods to design robust control system against various kinds of uncertainties by use of neural networks were proposed. For a control interface, voice command system was developed and evaluated. Then the difference between novice operators and skilled operators became clear as a result of analysis of the flight data.In the second year, the hardware of aero-robot was improved for advanced flight control systems, and we made success in autonomous flight by use of controllers by use of neural networks or adaptive controller, and it is shown that controllers designed by the proposed methods are much superior to the conventional flight controllers. Moreover, the voice command system was also improved so that it can be used in noisy environment with enough stability, then the command system became much more useful in practical applications.In the third year, systems, which were useful in information gathering at disaster site, were developed. Because web based datagram delivery is adopted, the developed system to gather and deliver aerial video and photograph is much easier to use and much cheaper than before and flight experiments showed its effectiveness. Moreover a method to make 3D terrain map by use of a stereo camera and GPS-INS hybrid navigation system together is developed and it is shown that the 3D map is very accurate and has enough resolution for investigation at disaster site and so on.

本研究的目标是开发一种完全自主的航空机器人，它可以在大地震、火灾、火山爆发等灾难场合支持各种活动。第一年不仅进行了航空机器人硬件的基本设计和开发，还进行了飞行模拟器的开发。研制了先进飞行控制系统所必需的GPS-INS混合导航系统，将定位误差减小到仅2 cm。提出了利用神经网络设计抗各种不确定性鲁棒控制系统的方法。针对控制接口，开发并评价了语音命令系统。然后，由于对飞行数据的分析，新手操作员和熟练操作员之间的差异变得清晰起来。第二年，针对先进的飞行控制系统，对航空机器人的硬件进行了改进，并利用神经网络或自适应控制器成功地实现了自主飞行，结果表明，采用所提方法设计的控制器比传统的飞行控制器要优越得多。此外，还对语音指挥系统进行了改进，使其能够在噪声环境中使用，并且具有足够的稳定性，从而使语音指挥系统在实际应用中更加有用。第三年，开发了在灾害现场收集信息的系统。由于采用了基于web的数据报传输，所开发的航拍视频和照片采集和传输系统比以前更容易使用，成本更低，飞行实验证明了该系统的有效性。提出了利用立体摄像机和GPS-INS混合导航系统制作三维地形图的方法，结果表明，三维地形图精度高，具有足够的分辨率，可用于灾害现场调查等。