Abstract
This paper presents autonomous control for indoor small helicopter X.R.B. In case of natural disaster like earthquake, a MAV (Micro Air Vehicle) which can fly autonomously will be very effective for surveying the site and environment in dangerous area or narrow space, where human cannot access safely. In addition, it will be helpful to prevent secondary disaster. This paper describes vision based autonomous hovering control, guidance control for X.R.B by model reference sliding mode control.
Highlights
A micro size flying device (Micro Air Vehicle: MAV) refers to a new class of aircraft whose target dimensions are less than 15 cm (6 in) in any one dimension
MAV can be used for surveying polluted area by NBC (Nucleus, Biology, and Chemistry) weapons, radio relay in place where communication is difficult, or rescue operation such as finding landing point when the aircraft pilot escapes
This paper describes the modeling and model reference sliding mode control(MRSMC) of X.R.B
Summary
It seems that humans have a very strong drive to overcome their biological limits This means, they build machines that enable them to move in three-dimensional space, e.g., airplanes. MAV can be used for surveying polluted area by NBC (Nucleus, Biology, and Chemistry) weapons, radio relay in place where communication is difficult, or rescue operation such as finding landing point when the aircraft pilot escapes. To perform such tasks, MAV must be capable of flying autonomously instead of by radio control. International Journal of Advanced Robotic Systems, Vol 5, No 3 (2008) ISSN 1729-8806, pp. 235-242
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