Position estimation of tethered micro unmanned aerial vehicle by observing the slack tether

Seiga Kiribayashi, Kaede Yakushigawa, Keiji Nagatani

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

At disaster sites, the use of Micro Unmanned Aerial Vehicles (MUAVs) is expected for human safety. One application is to support first-phase emergency restoration work conducted by teleoperated construction machines. To extend the operation time of a MUAV, the authors proposed a powerfeeding tethered MUAV to provide an overhead view of the site to operators. The target application is to be used outdoors, so a robust and simple position estimation method for the MUAV is required. Therefore, in this paper, the authors propose a position estimation method for the MUAV by observing the slack tether instead of using the Global Positioning System (GPS), vision sensors, or a laser rangefinder. The tether shape is assumed to be a catenary curve that can be estimated by measuring the tether's length, tension, and outlet direction. To evaluate the proposed method, the authors developed a prototype of a helipad with a tether winding mechanism for the tethered MUAV, which contains a measurement function of the tether status. Some indoor experimental results proved the feasibility of the proposed method.

Original languageEnglish
Title of host publicationSSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages159-165
Number of pages7
ISBN (Electronic)9781538639221
DOIs
Publication statusPublished - 2017 Oct 26
Event15th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2017 - Shanghai, China
Duration: 2017 Oct 112017 Oct 13

Publication series

NameSSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference

Other

Other15th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2017
CountryChina
CityShanghai
Period17/10/1117/10/13

ASJC Scopus subject areas

  • Artificial Intelligence
  • Safety, Risk, Reliability and Quality
  • Control and Optimization
  • Safety Research

Fingerprint Dive into the research topics of 'Position estimation of tethered micro unmanned aerial vehicle by observing the slack tether'. Together they form a unique fingerprint.

Cite this