Airborne Docking for Multi-Rotor Aerial Manipulations

Airborne Docking for Multi-Rotor Aerial Manipulations
复制标题

多旋翼空中操纵机载对接

DOI：
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发表时间：
2018
期刊：
IEEE/RJS International Conference on Intelligent RObots and Systems
影响因子：
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通讯作者：
K. Shimonomura
K. Shimonomura
中科院分区：
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文献类型：
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作者：
Ryo Miyazaki;Rui Jiang;Hannibal Paul;Koji Ono;K. Shimonomura

文献摘要

被引文献

相似文献

我们提出了使用两个多旋翼空中机器人进行空中对接。提出了一种带绞车机构的运输多旋翼无人机和一种带有机载定位和移动操纵系统的小型多旋翼无人机。绞车机构使无人机能够降低和提高一根杆来运输附加到它的另一架无人机。为了避免多旋翼产生的下洗影响，本文选择了机载对接方式。利用无人机的IMU数据，通过实验验证了机载对接的可能性，并评估了载荷变化对运输多旋翼无人机的影响。
We have proposed airborne docking using two multi-rotor aerial robots. This paper presents a transport multi-rotor UAV with winch mechanism and a small multi-rotor with onboard locolization and mobile manipulation system. The winch mechanism enables the UAV to lower and raise a bar to transport another UAV attached to it. The airborne docking method used in our work is chosen in order to avoid the effect of downwash generated by the multi-rotors. With experiments we have verified the possibility of airborne docking, and evaluated how it influences the transport multi-rotor UAV as the load is changed, using the IMU data of UAV.