機体上方を作業域とする空中マニピュレーションのためのFPVシステム

抄録

We describe a first person view (FPV) system designed for an aerial manipulation of the workspace above the flying robot. The aerial robot used in this study is equipped with a monocular camera which can be rotated by 90 degrees, enabling the direction of the visual axis of the camera to be changed forward or upward. The images captured by the camera are displayed on a monitor mounted on a controller via wireless module, allowing an operator to control the aerial robot by adjustable visual feedback and remotely performing a desired task with high precision. The feasibility of the proposed system was demonstrated through several flight experiments.