Managing uncertainty in sound based control for an autonomous helicopter

Passow, Benjamin N.; Góngora, Mario; Smith, Sophy; Hopgood, Adrian A.

doi:10.1109/civvs.2009.4938727

Cited by 3 publications

(1 citation statement)

References 24 publications

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“…The motor and rotor speed can be estimated by its correlation to a certain frequency peak within the sound signature [3]. By taking this estimate and the loudness of the helicopter, the distance to it can be determined, since its intrinsic noise is consistent and the level can be known.…”

Section: Helicopter's Sound Signaturementioning

confidence: 99%

Mitigating the effect of background noise in sound based helicopter control

Passow

Coupland

Góngora

2010

International Conference on Fuzzy Systems

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Abstract-Our research focuses on the use of sound to enhance the control of an autonomous indoor helicopterFlyper. One of the many challenging problems in this project is managing the uncertainty which is present in input data and the control actions; this paper focuses on managing the uncertainty in the input data. We present a fuzzy logic system which infers how much confidence should be placed on a control decision based on the data which was used to make that decision. The input data is a supervised and sound based position estimate of the flying robot. The output of the fuzzy inference system provides us with a confidence parameter used to attenuate the position control of the autonomous helicopter. We performed test flights with and without the fuzzy confidence parameter and with and without artificial disturbance in form of concurrent speech. We employed a motion tracker to capture the helicopter's movement during all test flights. The analysis of the data collected shows encouraging results.

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Section: Helicopter's Sound Signaturementioning

confidence: 99%