受動回転球殻UAVによる面状構造物点検システム

—UAVに与える張力を最小とするパラレルワイヤ長の最適化理論—

抄録

We propose a new method to determine tether lengths connected to a UAV to follow the movement of it without installing additional tension sensors and telemetry equipments which increase body mass. In this method, the tether length following the UAV will be determined by solving optimization problem to minimize tether tension which only needs a relative distance between the winch and flying UAV for calculation. We show the feasibility of this method by applying it to our inspection system and confirm the effectiveness of two-directional-hanging, one of the characteristics of our inspection system.