Autonomous Flight Control for a Small RC Helicopter ~A Measurement System with an EKF and a Fuzzy Control via GA-Based Learning~

To realize the autonomous flight control of an RC helicopter, this paper proposes a vision system with an extended Kalman filter and an automatic rule generation using genetic algorithm. A small helicopter is equipped with four LEDs as markers, and an EKF is formulated to enhance precision. Furthermore, fuzzy rules are automatically generated by using a genetic algorithm in a virtual world. This virtual world is realized by a delicately developed flight simulator. Consequently, this paper clearly shows that the small RC helicopter can hover