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

doi:10.1109/ROBIO.2017.8324729

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

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 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	https://doi.org/10.1109/ROBIO.2017.8324729
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

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

Access to Document

10.1109/ROBIO.2017.8324729

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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

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

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, Institute of Electrical and Electronics Engineers Inc., pp. 2099-2104, 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, Macau, China, 17/12/5. https://doi.org/10.1109/ROBIO.2017.8324729

Abiko S, Kuno A, Narasaki S, Oosedo A, Kokubun S, Uchiyama M. 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. Institute of Electrical and Electronics Engineers Inc. 2018. p. 2099-2104 https://doi.org/10.1109/ROBIO.2017.8324729

Abiko, Satoko ; Kuno, Atsushi ; Narasaki, Shota ; Oosedo, Atsushi ; Kokubun, Shohei ; Uchiyama, Masaru. / Obstacle avoidance flight and shape estimation using catenary curve for manipulation of a cable hanged by aerial robots. 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Vol. 2018-January Institute of Electrical and Electronics Engineers Inc., 2018. pp. 2099-2104

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