Autonomous Flight Control for a Small RC Helicopter ~A Measurement System with an EKF and a Fuzzy Control via GA-Based Learning~

T Tanaka ,Daisuke Sasaki,Yuichiro Morikuni,Kentaro Matsumiya,K Kato

doi:10.1109/sice.2006.315438

Autonomous Flight Control for a Small RC Helicopter ~A Measurement System with an EKF and a Fuzzy Control via GA-Based Learning~

T Tanaka , Daisuke Sasaki + Show 3 more

https://doi.org/10.1109/sice.2006.315438

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Publication Date: Jan 1, 2006

Citations: 5

Affiliation: Tokyo University of Science

#Automatic Generation #Automatic Rule Generation + Show 8 more

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Abstract

To realize the autonomous flight control of an RC helicopter, this paper proposes a vision system with an extended Kalman filter and an automatic rule generation using genetic algorithm. A small helicopter is equipped with four LEDs as markers, and an EKF is formulated to enhance precision. Furthermore, fuzzy rules are automatically generated by using a genetic algorithm in a virtual world. This virtual world is realized by a delicately developed flight simulator. Consequently, this paper clearly shows that the small RC helicopter can hover

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