Flight Control Using an Artificial Neural Network

This paper details the developments to date of an unmanned air vehicle (UAV) based on a standard size 60 model helicopter. The design goal is to have the helicopter achieve stable hover with the aid of an INS and monocular vision. The focus of this paper is on the development of an artificial neural network that makes use of this data to generate hover command, which are used to directly manipulate the flight servos. Current results show that a mapping can be learnt for the training data, but generalisation to unseen data has been poor with current training sets.