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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ2099-2104
ページ数6
ISBN(電子版)9781538637418
DOI
出版ステータスPublished - 2018 3 23
イベント2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China
継続期間: 2017 12 52017 12 8

出版物シリーズ

名前2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
2018-January

Other

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

ASJC Scopus subject areas

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

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