Alternating Drive-and-Glide Flight Navigation of a Kiteplane for Sound Source Position Estimation
Makoto Kumon, Hiroshi G. Okuno, Shuichi Tajima
Abstract
Drone audition, namely the hearing capability of a drone, is expected to compensate for the drawbacks of visual sensors in search-and-rescue missions. Current multi-rotor drones have limitations of flight duration and sound processing due to ego-noise generated by rotors and air-flow. Drone audition for a kiteplane, i.e., a fixed-wing drone that can fly slowly and stably, has not been investigated. This paper proposes "Alternating Drive-and-Glide Flight Navigation"(AltDGFNavi) of a kiteplane for sound source position estimation. AltDGFNavi consists of two functions: periodical switching rotor for driving and gliding to reduce ego-noise, and dynamic flight path generation to fly close to the target. AltDGFNavi was evaluated through numerical simulations, and the results of sound source position estimation demonstrated the effectiveness of AltDGFNavi.
BibTeX
@inproceedings{iros2021_alternatingdrive,
title = {Alternating Drive-and-Glide Flight Navigation of a Kiteplane for Sound Source Position Estimation},
author = {Makoto Kumon and Hiroshi G. Okuno and Shuichi Tajima},
booktitle = {IROS 2021},
year = {2021}
}