Obstacle avoidance flight and shape estimation using catenary curve for manipulation of a cable hanged by aerial robots

Satoko Abiko, Atsushi Kuno, Shota Narasaki, Atsushi Oosedo, Shohei Kokubun, Masaru Uchiyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2099-2104
Number of pages6
Volume2018-January
ISBN (Electronic)9781538637418
DOIs
Publication statusPublished - 2018 Mar 23
Event2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China
Duration: 2017 Dec 52017 Dec 8

Other

Other2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
CountryChina
CityMacau
Period17/12/517/12/8

Keywords

  • Aerial Manipulation
  • Cable
  • Catenary curve
  • Obstacle Avoidance Flight
  • Unmanned Aerial Vehicle

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization
  • Modelling and Simulation

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  • Cite this

    Abiko, S., Kuno, A., Narasaki, S., Oosedo, A., Kokubun, S., & Uchiyama, M. (2018). Obstacle avoidance flight and shape estimation using catenary curve for manipulation of a cable hanged by aerial robots. In 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 (Vol. 2018-January, pp. 2099-2104). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2017.8324729