TY - GEN
T1 - Teleoperation of a tail-sitter VTOL UAV
AU - Suzuki, Ren
AU - Matsumoto, Takaaki
AU - Konno, Atsushi
AU - Hoshino, Yuta
AU - Go, Kenta
AU - Oosedo, Atsushi
AU - Uchiyama, Masaru
PY - 2010/12/1
Y1 - 2010/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=78651504181&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78651504181&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5651023
DO - 10.1109/IROS.2010.5651023
M3 - Conference contribution
AN - SCOPUS:78651504181
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 1618
EP - 1623
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -