Automatic Flight Control with camera scheduling

带相机调度的自动飞行控制

• 批准号: 23760200
• 负责人: ARAI SHOGO
• 金额: $ 2.75万
• 依托单位: Tohoku University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Young Scientists (B)
• 财政年份: 2011
• 资助国家: 日本
• 起止时间: 2011 至 2013
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-23760200/
• 关键词: センサスケジューリング; 自動制御; センサネットワーク; UAV; 制御

Many types of control and measurement systems with cameras are prevailing with price reduction of cameras. To improve control performance or measurement accuracy, an effective solution is to equip with multiple cameras on the system. However, having multiple cameras in the system result in large data to process. Therefore it is necessary to process a large amount of information since data size obtained by cameras are larger than that by other type of sensors in most cases.One of the approaches to solve this problem is to select images used for control dynamically at eachtime, which is called sensor scheduling. In this research, we have focused on automatic flight control with multiple cameras. We have proposed sensor scheduling algorithm for sensor network consisting of multiple cameras (we will call it camera network), considered related problems, and performed automatic controlling of a small RC helicopter with the camera network.

许多类型的控制和测量系统与摄像机的价格降低盛行。为了提高控制性能或测量精度，一个有效的解决方案是在系统上配备多个摄像头。然而，在系统中具有多个相机导致要处理大量数据。在大多数情况下，摄像机获取的数据量比其他类型的传感器获取的数据量要大，因此需要处理大量的信息，解决这一问题的方法之一就是在每个时刻动态地选择用于控制的图像，这就是传感器调度。在这项研究中，我们专注于多摄像机的自动飞行控制。提出了由多个摄像机组成的传感器网络（以下称之为摄像机网络）的传感器调度算法，考虑了相关问题，并利用摄像机网络实现了小型遥控直升机的自动控制。

项目成果

Control of Water Resource Monitoring Sensors with Flow Field Estimation for Low Energy Consumption

通过流场估计控制水资源监测传感器以实现低能耗

• 发表时间: 2014
• 作者: Shogo Arai;Pudith Sirigrivatanawong;and Koichi Hashimoto
• 通讯作者: and Koichi Hashimoto

An RC Helicopter Autonomous Control System with Single Web Camera

单网络摄像头遥控直升机自主控制系统

• 发表时间: 2012
• 期刊: SICE Annual Conference
• 作者: Tong Ye;Shogo Arai;and Koichi Hashimoto
• 通讯作者: and Koichi Hashimoto

縦方向外乱を考慮したRCヘリコプタの自律飛行

考虑纵向扰动的遥控直升机自主飞行

• 发表时间: 2012
• 作者: Shogo Arai;Tong Ye;and Koichi Hashimoto;古澤良和,荒井翔悟,橋本浩一
• 通讯作者: 古澤良和,荒井翔悟,橋本浩一

Fast Sensor Scheduling for Spatially Distributed Sensors

空间分布式传感器的快速传感器调度

• DOI: 10.1109/tac.2011.2141450
• 发表时间: 2011
• 期刊: IEEE Transactions on Automatic Control
• 影响因子: 6.8
• 作者: Arai;S.;Iwatani Y. and Hashimoto;K.
• 通讯作者: K.

Control Performance Comparison of Asynchronous and Synchronous Sensor System in UAV Applications

无人机应用中异步与同步传感器系统的控制性能比较

• 发表时间: 2012
• 期刊: IEEE International Conference on Mechatronics and Automation
• 作者: Shogo Arai;Tong Ye;and Koichi Hashimoto
• 通讯作者: and Koichi Hashimoto