マルチロータ型飛行ロボットの空中ドッキング方式の検討

抄録

We propose a strategy for airborne docking of two multi-rotor aerial robots, the upper side and lower side vehicles, during hovering. The lower side vehicle moves and controls its position based on the marker attached to the upper side vehicle. In order to avoid the disturbance of downwash from the upper side vehicle, the target position for positioning should be set to the point sideways or downward away from the main body. In the experiments, we verified that positioning to such target point is possible with satisfactory accuracy.