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 language | English |
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Title of host publication | 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 2099-2104 |
Number of pages | 6 |
Volume | 2018-January |
ISBN (Electronic) | 9781538637418 |
DOIs | |
Publication status | Published - 2018 Mar 23 |
Event | 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China Duration: 2017 Dec 5 → 2017 Dec 8 |
Other
Other | 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 |
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Country | China |
City | Macau |
Period | 17/12/5 → 17/12/8 |
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