2自由度可変チルトロータを2つ用いた完全駆動型UAVに関する研究

抄録

In recent years, a variety of unmanned aerial vehicles (UAVs) have been developed to replace human tasks, such as carrying cargo and inspecting infrastructures, and have attracted attention in many fields. However, conventional quad-rotor UAVs are forced to change in attitude when moving in the air. Therefore, aircraft that multiple rotors are assigned with an inclination or are tiltable has been developed, but most of them are redundant actuated systems. Therefore, in this study, it aims to develop an aircraft with a 2-DOF tiltable rotors to realize a fully-actuated system, which is capable of independent flight in position and attitude, using a small number of rotors. In this aircraft, rotors being different rotational directions are arranged up and down, one by one, so that it can reduce the power consumption and the risk of failures, because the number of rotors is only two.