ブレーキ機構を備えた２輪型４ロータヘリコプタの自動制御

抄録

This paper deals with a new Air-Land Unmanned Aerial Vehicle (UAV) with braking mechanism. The UAV is a quadrotor helicopter with two rolling protect-flame, and can not only fly in the air but also move on the ground, wall and ceiling. The braking mechanism plays an important role in a bridge inspection, since the mechanism can improve positioning accuracy of the UAV moving on the wall and ceiling. The accuracy depends on the timing of braking in the control system. This paper proposes a new and useful design method of the control system including the timing of braking for high accuracy of positioning. The effectiveness is demonstrated by some flight experiments.