著者

岩倉 大輔 王 偉 野波 健蔵 HALEY Mark

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.76, no.761, pp.61-68, 2010-01-25

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The accuracy of small and low cost GPS is insufficient for precise landing of MAV. This study aims to land on an MAV size landing target by using outer sensors. This paper describes about proposed movable outer sensor system for measuring outer environment and an algorithm of position measurement. A movable outer sensor system consists of four IR rangefinders, four servo motors and one ultrasonic rangefinder. In order to measure the MAV position, sensor system vertically swings each IR rangefinders using servo motors and detects edge of landing target. And this sensor system calculates the position from measured edge direction and ultrasonic altitude. Additionally, an experiment of autonomous hovering over the 52cm×52cm table and autonomous landing was carried out in indoor environment by using proposed sensor system. As a result of the experiment, it has been successful that our MAV could fly keeping horizontal position within 17.9cm radius circle, and landed on the table from 50cm height.