危険作業支援のための小型無人ヘリコプタの自律制御

抄録

This paper presents development of autonomous flight control of small unmanned helicopter named Sky Surveyor, especially focusing on hovering control. This helicopter have been developed for safety inspections for structures in high places like power lines. Simple SISO models were derived from experiments and brief kinematical analysis. Accurate hovering performance was achieved using the controllers designed based on the model.