羽ばたき翼飛行ロボットのための視覚的目標位置推定
Vision-Based Target Localization for a Flapping-Wing Aerial Vehicle
搭載能力と航続時間に制約のある羽ばたき翼機向けに、汎用カメラモデルに基づく視覚的な目標位置推定アルゴリズムを提案し、ガウスノイズと一次ローパスフィルタで安定化を図り、シミュレーションで有効性を検証した。
著者: Xinghao Dong, Qiang Fu, Chunhua Zhang, Wei He
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
The flapping-wing aerial vehicle (FWAV) is a new type of flying robot that mimics the flight mode of birds and insects. However, FWAVs have their special characteristics of less load capacity and short endurance time, so that most existing systems of ground target localization are not suitable for them. In this paper, a vision-based target localization algorithm is proposed for FWAVs based on a generic camera model. Since sensors exist measurement error and the camera exists jitter and motion blur during flight, Gaussian noises are introduced in the simulation experiment, and then a first-order low-pass filter is used to stabilize the localization values. Moreover, in order to verify the feasibility and accuracy of the target localization algorithm, we design a set of simulation experiments where various noises are added. From the simulation results, it is found that the target localization algorithm has a good performance.
