マルチコプタの自律飛行の精度評価システムの開発

抄録

This paper describes an evaluation system using two three-dimensional laser range finders (3D-LRF) for a position control of multi-copter. Our research group has been tackling developing a multi-copter to inspect concrete bridges. Operation of a multi-copter requires expertise of an operator. Therefore position control is implemented on our multi-copter. To evaluate the precision of the control, the position of the multi-copter should be measured from the external environment. Therefore this study develops the evaluation system employing 3D-LRFs. 3D-LRFs get point cloud data of the multi-copter and the center of these points is calculated as the position of it. The precision of our evaluation system is assessed by comparing measurement data of it and motion capturing system (MC). The assessment shows that the system can that the system can measure the position with average error 0.07696[m]