テザー巻き取り装置によるクワッドロータの位置検出

抄録

Use of a Quadrotor is considered as one of methods to inspect infrastructures such as a tunnel or a bridge. In such a case, it needs to control the position of the airframe. Note, however, that it is difficult to realize the position control using GPS in environments, such as in a tunnel or under a bridge, because there is a problem, such as the weakness of the GPS signal or the incomplete reaching. Therefore, the present research is aimed at developing position control not using GPS, and proposes a method for detecting the airframe position of a tethered Quadrotor, from the length and tension of the tether. Especially, a tether winder is produced so that the length and tension of the tether are measurable. This paper describes how to detect the position of a Quadrotor, presents the motion experiment of the produced tether winder, and the associated result.