飛行ロボットにおける自由度を高めたセンサー機構の開発

抄録

This paper introduces practical design and hardware implementation issues of a sensor positioner composed of a pair of rotation joints for an unmanned aerial vehicle (UAV) like a drone. Through the proposed sensor positioner, we aim at enabling UAV to recognize the geometric surfaces of various objects by enlarging its field of view (FoV). For the purpose, an observation motion scheme based on the positioner is developed to enhance the object shape recognition capability. This paper provides a detailed presentation on 1) how to realize the sensor positioner and integrate it with a UAV robot and 2) how to enlarge its FoV in order to identify their geometric shapes. The observation functionality of the sensor positioner mounted under the robot and the effectiveness of the observation scheme are verified through extensive experiments.