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 |
|---|---|
| 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 |
|---|---|
| Country | China |
| City | Macau |
| Period | 17/12/5 → 17/12/8 |
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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
Cite this
Obstacle avoidance flight and shape estimation using catenary curve for manipulation of a cable hanged by aerial robots. / Abiko, Satoko; Kuno, Atsushi; Narasaki, Shota; Oosedo, Atsushi; Kokubun, Shohei; Uchiyama, Masaru.
2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Vol. 2018-January Institute of Electrical and Electronics Engineers Inc., 2018. p. 2099-2104.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
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
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
VL - 2018-January
SP - 2099
EP - 2104
BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PB - Institute of Electrical and Electronics Engineers Inc.
ER -