A Method of Attitude Control for Mobile Robot on Three-Dimensional Surface under Disturbance of Wind
Tomoyuki Yamaguchi, Makoto SAKAMOTO, Yuki Nishimura · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2019
In order to reduce the burden of inspection, automation of inspection is required. As one of them, the use of multicopters are being studied widely. However, there are many problems in automatic inspection based on multi-copter’s approaches because of disturbance such as a wind at bridges. In this paper, we propose a method to stabilize the attitude control of three-dimensional-surface mobile robot with a multi-copter mechanism under disturbance of wind. The proposed method utilizes thrust force by the multi-copter as the pushing force. The pushing force works a robot body against the three-dimensional surfaces, and enables the robot to stabilize the attitude. We also developed the robot installed this mechanism for the bridge inspection. Through the experiments, we show the effectiveness of the proposed method.