OCTD方式による自動吊上飛行制御に関する研究

―T字フックへの巻き付け飛行経路の提案―

抄録

In recent years, significant research has been undertaken on drones and their potential for autonomously transporting objects. The One-Cable-Two-Drones (OCTD) composition involves connecting two drones with a cable. We adopted an approach focusing on the implementation of the T-hook to achieve stable and autonomous suspension. Winding the cable around this T-hook increases friction, which is anticipated to improve stability against external disturbances, thereby ensuring safer transportation. Initially, we considered winding the cable around the T-hook in a line-symmetrical manner. However, due to the positional relationship between the cable and the T-hook, there was a possibility that this would cause the object to tilt. We implemented a point-symmetrical winding method, designed a collision-preventive flight path, and confirmed validity of the proposed method through T-hook winding experiments.