テザード小型飛行ロボットの張力推定と位置推定
Tension Estimation and Localization for a Tethered Micro Aerial Robot
テザーで繋がれた小型クアッドコプターについて、カテナリー曲線に基づくテザー模型を構築し、IMUとモータ推力のみから張力を推定する手法と、張力とテザー形状を利用した位置推定手法を提案した。
著者: Ricardo Martins, Meysam Basiri
分類: cs.RO
原文アブストラクト
This work focuses on the study of tethered fights of a micro quadcopter, with the aim of supplying continuous power to a small-sized aerial robot. Multiple features for facilitating the interaction between a tethered micro quadcopter and a ground base are described in this paper. Firstly, a tether model based on the catenary curve is presented that describes a quadcopter tethered to a point in space. Furthermore, a method capable of estimating the tension applied to the quadcopter, based only on the inertial information from the IMU sensors and the motor thrusts, is presented. Finally, a novel method for localizing the quadcopter by exploiting the tension imposed by the tether and the shape of the tether is described. The proposed methods are evaluated both in simulation and in real world prototype.
