An autonomous control method for UAV using the relation between flight command and 3D moving vector

Miku Kawaguchi; Isao Miyagawa; Kazuhito Murakami

doi:10.1117/12.2591037

13 March 2021 An autonomous control method for UAV using the relation between flight command and 3D moving vector

Miku Kawaguchi, Isao Miyagawa, Kazuhito Murakami

Proceedings Volume 11766, International Workshop on Advanced Imaging Technology (IWAIT) 2021; 1176636 (2021) https://doi.org/10.1117/12.2591037
Event: International Workshop on Advanced Imaging Technology 2021 (IWAIT 2021), 2021, Online Only

Abstract

We propose an autonomous flight control method for secure navigation of Unmanned Aerial Vehicles (UAVs). We focus on the relation between flight command given to UAV and the response. According to the flight commands sampled in world coordinate system, we acquire the corresponding 3D moving vectors, which represent moving distances and orientations in 3D space, by employing motion capture system. As the input/output relation implemented in UAV is a black box, our approach acquires the sequential input/output relation between flight command and 3D moving vector by using recurrent neural network. Given sequential flight commands, the model predicts the 3D moving vectors that correspond to the command sequence. We demonstrate that our proposed method yields the desirable command sequence for autonomous control.

Citation Download Citation

Miku Kawaguchi, Isao Miyagawa, and Kazuhito Murakami "An autonomous control method for UAV using the relation between flight command and 3D moving vector", Proc. SPIE 11766, International Workshop on Advanced Imaging Technology (IWAIT) 2021, 1176636 (13 March 2021); https://doi.org/10.1117/12.2591037

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