抄録
In recent years, UAVs play various roles through the progress of the flight control technologies. And missions such as information-gathering and aerial photography can be performed by UAVs, instead of manned aircrafts. And UAVs have advantages of the low risk of losing lives by crashes and the low maintenance cost because of no crew aboard. For the missions described above, the flight control technologies are essential for UAVs, but many flight control technologies rely on GPS. And small UAVs are suitable for operation in urban areas and mountainous areas, indoors, but GPS cannot be used in those environments. So in this study, the flight control techniques by using the optical flow sensor in GPS-denied environments are introduced. And in this paper, first, we derive a correction formula and determine a proportional coefficient of the formula experimentally by using the manipulator hand. Secondly, we test the correction formula experimentally by using Motion capture system to verify the usefulness of the correction equation. Finally, the conclusion and the future works is described.
