狭隘部への進入と近接目視点検を目的とした小型２輪マルチコプタの開発

抄録

This paper proposes new small-sized two-wheeled Unmanned Aerial Vehicles (UAVs) in order to get into and visually inspect a narrow-mindedness part, for example, a bridge bearing. First, we present a design method of the multi-copter with two passive wheels to downsize the wheel of the size of 66cm to size of 25cm. Second, for high accuracy positioning of inspection, a new multi-copter with two drive wheels is proposed. The effectiveness is demonstrated by some flight experiments moving on a wall and a ceiling