固定翼UAVによる低速降下物体空中回収の実現を目指して

抄録

Low-speed-descent objects such as an object descending with a parachute are widely used in the aerospace field. They are used for ensuring safety or making the success of their missions but have some disadvantages, especially in safety. The authors’ previous studies discussed a solution by mid-air retrieval of low-speed-descent objects by using fixed-wing UAVs to overcome the disadvantages. It adopts the updating final state control in the process from before to the retrieval point, and the frequency-shaped LQR control in the process to horizontal steady flight after retrieval. The proposed method verifies its effectiveness by numerical simulations. This paper describes the construction of its experimental system to verify its effectiveness experimentally. The aircraft which has advantage for the experiment is selected, the sensing and control systems that meet the requirements are constructed, and their usefulness is verified by a preliminary experiment.