본 발명의 실시예들은 일반적인 상황에서 모터 신호를 모터 제어 신호로 변환하여 특정 비행 궤적으로 비행하도록 제어하고, 센서 데이터를 기반으로 자세를 측정하여 특정 상황을 인지하고, 원하는 현재 상태를 입력받아 입력값을 출력하도록 강화학습된 정책 기반 강화학습 네트워크로부터 출력되는 입력값과 현재 상태와 다음 상태를 입력받아 추정 입력값을 출력하도록 학습된 베이지안 네트워크로부터 출력된 추정 입력값의 차이를 추정 외란으로 추정하고 입력값에 추정 외란을 빼서 실제 발생할 수 있는 외란을 상쇄한 제어신호로 특정 상황에서 모터 제어 신호를 조정하여 자세를 유지하면서 비행하도록 제어하는 드론 및 그 드론의 제어 방법을 제공을 제공한다.
The embodiments of the present invention provide a drone and a control method therefor, in which, by converting a motor signal to a motor control signal in a general situation, the drone is controlled so as to fly along a specific flight trajectory, a specific situation is recognized by measuring attitude on the basis of sensor data, the difference between an input value and an estimated input value is estimated as estimated disturbance, the input value being outputted from a policy-based reinforcement learning network which has undergone reinforcement learning so as to output the input value by receiving a desired current state, and the estimated input value being outputted from a Bayesian network trained so as to output the estimated input value by receiving the current state and the next state, and the drone is controlled so as to fly while maintaining attitude by adjusting the motor control signal in the specific situation by means of a control signal in which disturbance that can actually occur is canceled by subtracting the estimated disturbance from the input value.
Drone and Method for controlling Drone
드론 및 그 드론의 제어방법
26.06.2025
Patent
Elektronische Ressource
Koreanisch
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