Position Estimation of Tethered Micro Unmanned Aerial Vehicle (Nov., 2017)
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. Recently, to extend the operation time of a MUAV, we proposed a power-feeding tethered MUAV to provide an overhead view of the site to operators. For autonomous flight of the MUAV, we propose a position estimation method by observing the slacked 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. Some indoor experimental results proved the feasibility of the proposed method, as shown in this movie clip.
Introduction of web browser based robot remote control system (Oct., 2016)
This video introduces our remote control system for the mobile robot that runs ROS. The system can work on a web browser and does not need to install dedicated software to operators PC. Also, the system either work on Android device since browser base.
Development of the wired power feeding system of MUAV for long-term surveillance (Sept., 2015)
In disaster environments, it is very dangerous for rescue crews to enter and investigate the disaster site. Therefore, surveillance activity by unmanned robots, instead of humans, is expected. Particularly, investigation using a combination of Unmanned Ground Vehicle (UGV) and Unmanned Aerial Vehicle (UAV) mounted on the UGV can expand a range of work space. However, due to payloads, flight time of the UAV is limited and very short. Therefore, we aimed to develop a tethered UAV system, mounted on UGV for long time exploration. In this research, we conducted initial tests to confirm our developing system, and report the result about them.