Teleoperation of a tail-sitter VTOL UAV

Ren Suzuki, Takaaki Matsumoto, Atsushi Konno, Yuta Hoshino, Kenta Go, Atsushi Oosedo, Masaru Uchiyama

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

    9 Citations (Scopus)

    Abstract

    Vertical take-off and landing unmanned aerial vehicles (VTOL UAVs) are expected to perform dangerous mission such as rescue and exploring disaster site alone. As for the operation of a UAV in a rescue mission, teleoperation is preferred. This paper describes teleoperation of a miniature tail-sitter VTOL UAV. A teleoperation system is developed to navigate a tail-sitter UAV. A velocity estimation method for outdoor flight is described and a velocity control strategy based on attitude control for indoor hovering of tail-sitter VTOL UAVs is proposed. In order to verify the teleoperation system and velocity control strategy, indoor exploration and target tracking teleoperation are performed in this paper. Through the experiments, the operator successfully controlled a teleoperated tail-sitter VTOL UAV with non-line-of-sight. In addition, a preliminary obstacle avoidance system is also implemented to assist operator.

    Original languageEnglish
    Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
    Pages1618-1623
    Number of pages6
    DOIs
    Publication statusPublished - 2010 Dec 1
    Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
    Duration: 2010 Oct 182010 Oct 22

    Publication series

    NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

    Other

    Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
    CountryTaiwan, Province of China
    CityTaipei
    Period10/10/1810/10/22

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Human-Computer Interaction
    • Control and Systems Engineering

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