Absolute positioning control of indoor flying robot using ultrasonic waves and verification system

Fumiya Sato, Yuta Motomura, Chinthaka Premachandra, Kiyotaka Kato

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Currently, absolute positioning methods for indoor flying robots use multiple cameras to measure position through image processing. However, such systems are large scale and costly. Therefore, we have developed a measurement and control system that uses ultrasonic waves. The system consists of a ground base with three ultrasonic transmitter units and a flying robot. The flying robot is equipped with onboard measurement and control devices. This system is small and inexpensive. This paper reports on a verification system that proved the effectiveness of the proposed system. The verification system resulted in improvements to the measurement and control devices. Then, the system realized autonomous flight using ultrasonic waves. This paper describes the details of the method for using ultrasonic waves to control the positioning of an indoor flying robot, the newly developed hardware and software that enable the autonomous flight, and the results of a flight experiment.

LanguageEnglish
Title of host publicationICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings
PublisherIEEE Computer Society
Pages1600-1605
Number of pages6
ISBN (Electronic)9788993215120
DOIs
StatePublished - 2017 Jan 24
Event16th International Conference on Control, Automation and Systems, ICCAS 2016 - Gyeongju, Korea, Republic of
Duration: 2016 Oct 162016 Oct 19

Other

Other16th International Conference on Control, Automation and Systems, ICCAS 2016
CountryKorea, Republic of
CityGyeongju
Period16/10/1616/10/19

Fingerprint

Ultrasonic waves
Robots
Antenna grounds
Large scale systems
Transmitters
Image processing
Ultrasonics
Cameras
Hardware
Control systems
Experiments

Keywords

  • flying robot
  • positioning control
  • ultrasonic waves

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Sato, F., Motomura, Y., Premachandra, C., & Kato, K. (2017). Absolute positioning control of indoor flying robot using ultrasonic waves and verification system. In ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings (pp. 1600-1605). [7832516] IEEE Computer Society. DOI: 10.1109/ICCAS.2016.7832516

Absolute positioning control of indoor flying robot using ultrasonic waves and verification system. / Sato, Fumiya; Motomura, Yuta; Premachandra, Chinthaka; Kato, Kiyotaka.

ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings. IEEE Computer Society, 2017. p. 1600-1605 7832516.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sato, F, Motomura, Y, Premachandra, C & Kato, K 2017, Absolute positioning control of indoor flying robot using ultrasonic waves and verification system. in ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings., 7832516, IEEE Computer Society, pp. 1600-1605, 16th International Conference on Control, Automation and Systems, ICCAS 2016, Gyeongju, Korea, Republic of, 16/10/16. DOI: 10.1109/ICCAS.2016.7832516
Sato F, Motomura Y, Premachandra C, Kato K. Absolute positioning control of indoor flying robot using ultrasonic waves and verification system. In ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings. IEEE Computer Society. 2017. p. 1600-1605. 7832516. Available from, DOI: 10.1109/ICCAS.2016.7832516
Sato, Fumiya ; Motomura, Yuta ; Premachandra, Chinthaka ; Kato, Kiyotaka. / Absolute positioning control of indoor flying robot using ultrasonic waves and verification system. ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings. IEEE Computer Society, 2017. pp. 1600-1605
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