光学的な流れで飛行姿勢を制御するための非観測性
Guido C H E de Croon1, Julien J G Dupeyroux2, Christophe De Wagter2
1Micro Air Vehicle Laboratory, Control and Simulation, Faculty of Aerospace Engineering, Delft University of Technology, Delft, the Netherlands. g.c.h.e.decroon@tudelft.nl.
Nature
|October 19, 2022
まとめ
飛行する昆虫は 姿勢を制御するために 重力の感覚を必要としないかもしれません この研究では 光学的な流れと運動モデルが 安定した飛行制御を ロボットに可能にし 昆虫規模の自律飛行ロボットに 刺激を与える可能性があることが示されています
科学分野:
- ロボット
- バイオインスピレーションエンジニアリング
- 制御システム
背景:
- 飛ぶロボットは通常,姿勢の見積もりのために加速計を使用します.
- 飛ぶ昆虫には 明確な重力感覚がなく 姿勢を安定させるメカニズムも 完全に理解されていません
- 昆虫が姿勢を制御するために 内部重力の推定に依存しているかは不明です
研究 の 目的:
- 重力感がない状態で,光学的流れと運動モデルを組み合わせた姿勢の推定を調査する.
- このような制御システムの安定性を分析する,特に観察不能な条件下で.
- 昆虫サイズのロボットで加速計のない自動操縦の可能性を調査し,昆虫の姿勢制御について仮説を立てます.
主な方法:
- 光学流から姿勢を抽出する制御システムと,加速方向に姿勢を関連付ける運動モデルを開発する.
- 観測不可能な状態を含むシステムの安定性を分析する.
- 飛行ロボットや バイオインスピレーションの 羽ばたきロボットで 実験を行っています
主要な成果:
- 姿勢は,一時的に観察できない場合でも,光学的な流れと運動モデルから抽出できます.
- 制御システムは,飛行ロボットにおける安定した,しかしわずかに振動する姿勢制御を示しています.
- 振動する翼を持つロボットの高周波振動は 姿勢の観測能力を高めます
結論:
- 光学的な流れと運動モデルを用いた姿勢制御のための新しいアプローチが提示され,加速度計の潜在的な代替案を提供します.
- この方法により 安定した飛行制御を ロボットに可能にし 昆虫の飛行ダイナミクスを 洞察することができます
- この発見は,昆虫規模の自律飛行ロボットの開発を支援し,昆虫の姿勢の推定と制御のための仮説を生成します.
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