ヨー角制御を補助する機構をもつ小型２輪マルチコプタの開発

抄録

This paper proposes a new small-sized two-wheeled Unmanned Aerial Vehicle(UAV). Generally, a small-sized multi-copter has some practical problems such that the size of propeller is too small to reject against torque disturbance on the direction of the yaw, since the torque input to control is too small. In this paper, a new mechanism on thrusts using small and light propellers is added to the two-wheeled multi-copter. The additional thrusts can generate a large torque input to control the rotation of the yaw direction and to reject a large disturbance on the yaw. The design method of the new two-wheeled multi-copter with the additional thrusts is presented and the effectiveness is demonstrated by a flight experiments on a ceiling.