2A2-L09 Quad-rotor Flying along the Pipe(Aerial Robot and Mechatronics(2))
Yusuke TOTSUKA, Kazunori Ohno, Eijiro Takeuchi, Satoshı Tadokoro · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2012
The authors aim at developing a search system by using a Quad-rotor. Fire and leakage accident occur many times in chemical plants and oil plants etc because of pipe line troubles. In order to solve this problem, it is necessary to check pipes. In this paper, the authors proposed a method of Quad-rotor flying along a pipe. We set a line which is a constant distance parallel with the pipe line as target line. The Quad-rotor can follow the target line by moving a target point aloneg the target line. Position control method proposed by Michael is used for the purpose. We have implemented the program on the dynamics simulator V-REP, and confirmed that the Quad-rotor fly along the pipe line using the proposed method.