相互位置関係が未知な複数のCoaxial-UAVによる協調搬送のための姿勢制御3DoF姿勢制御に向けた設置位置推定

抄録

The recent development of UAV technology has popularized UAV-based systems. However, to use a UAV for package transportation, it is required to select a UAV that satisfies the required conditions of the transported package. In this paper, we propose a cooperative transport system using multiple Coaxial-UAVs.Especially, the aim is to achieve cooperative transportation in cases of unknown positional relationships. For this, it is important to know which axis of rotation the UAV acts on. This paper presents a method to estimate the positions of the UAV relative to the plant using a Neural Network. As a result, it was suggested that the estimation is possible under specific conditions.