Altitude Control of Flapping-wing MAV Using Vision-Based Navigation

被引：0

作者：

Lin, S. H. ^{[1
]}

Hsiao, F. Y. ^{[1
]}

Chen, C. L. ^{[1
]}

Shen, J. F. ^{[2
]}

机构：

[1] Tamkang Univ, Tamsui 251, Taiwan

[2] Taipei Natl Univ Arts, Performance Technol Lab, Taipei, Taiwan

来源：

2010 AMERICAN CONTROL CONFERENCE | 2010年

关键词：

INSECT FLIGHT; AERODYNAMICS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The altitude control of flapping-wing micro-aerial vehicles (MAVs) is discussed in this paper. The Tamkang University (TKU) has been devoted to the development of flapping-wing robots for a long period, including design, fabrication and control. On the basis of the earlier knowledge on the Golden Snitch, a flapping-wing MAV in TKU, we develop a non-intrusive navigation methodology by using stereo vision, and stabilize the flight trajectory with a modified P-control. Different from other mechanical or aerial systems, the selections in control signal are limited in this problem due to the restrictions in carry-on weight. Numerical simulations and flight tests are also provided to demonstrate the robustness of our control law and the system structure. We are confident that this should be the first flapping-wing MAV under 10 grams capable of autopilot. The ultimate goal of this work is to realize fully autonomous flight of flapping-wing MAVs.

引用

页码：21 / 26

页数：6

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