TY - GEN
T1 - Obstacle avoidance flight and shape estimation using catenary curve for manipulation of a cable hanged by aerial robots
AU - Abiko, Satoko
AU - Kuno, Atsushi
AU - Narasaki, Shota
AU - Oosedo, Atsushi
AU - Kokubun, Shohei
AU - Uchiyama, Masaru
N1 - Funding Information:
This work was supported by JSPS KAKENHI Grant Number JP25630083.
PY - 2018/3/23
Y1 - 2018/3/23
N2 - Recently, Unmanned Aerial Vehicles (UAVs) are applied to various practical tasks such as inspection of deteriorated infrastructures and are expected to survey inside of corrupted buildings in disaster area. In such applications, wired power supply system is useful for extension of task period instead of using on-board battery. In this case, the UAV requires to properly manipulate the power supply cable without inducing any accident, especially collision between the cable itself and environment. This paper addresses collision/obstacle avoidance flight including a cable hanged by UAVs. To accomplish this task, this paper proposes a shape estimation method of a cable using Catenary curve without using tension sensor. The cable is assumed to be flexible, but does not have elasticity. The fundamental flight experiments are carried out to verify the proposed method.
AB - Recently, Unmanned Aerial Vehicles (UAVs) are applied to various practical tasks such as inspection of deteriorated infrastructures and are expected to survey inside of corrupted buildings in disaster area. In such applications, wired power supply system is useful for extension of task period instead of using on-board battery. In this case, the UAV requires to properly manipulate the power supply cable without inducing any accident, especially collision between the cable itself and environment. This paper addresses collision/obstacle avoidance flight including a cable hanged by UAVs. To accomplish this task, this paper proposes a shape estimation method of a cable using Catenary curve without using tension sensor. The cable is assumed to be flexible, but does not have elasticity. The fundamental flight experiments are carried out to verify the proposed method.
KW - Aerial Manipulation
KW - Cable
KW - Catenary curve
KW - Obstacle Avoidance Flight
KW - Unmanned Aerial Vehicle
UR - http://www.scopus.com/inward/record.url?scp=85049938604&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85049938604&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2017.8324729
DO - 10.1109/ROBIO.2017.8324729
M3 - Conference contribution
AN - SCOPUS:85049938604
T3 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
SP - 2099
EP - 2104
BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Y2 - 5 December 2017 through 8 December 2017
ER -