Control of Two-Wheeled Multirotors Interacting with Walls and Experimental Verifications

2020 Fiscal Year Final Research Report

• Project/Area Number: 19K23512
• Research Category: Grant-in-Aid for Research Activity Start-up
• Allocation Type: Multi-year Fund
• Review Section: 0302:Electrical and electronic engineering and related fields
• Research Institution: Nagoya Institute of Technology
• Principal Investigator: Nakano Satoshi 名古屋工業大学, 工学(系)研究科(研究院), 助教 (30847893)
• Project Period (FY): 2019-08-30 – 2021-03-31
• Keywords: 制御工学 / ドローン / 拘束システム

Outline of Final Research Achievements

This project first tackled constrained control for mobile robots to build two-wheeled multirotor control systems interacting with walls. The result was published in a domestic journal. Moreover, visual feedback control and force control were applied to extend the proposed method for practical use.
Throughout this project, simulations and experiments were carried out to show the effectiveness of the proposed method.

Free Research Field

制御工学

Academic Significance and Societal Importance of the Research Achievements

本研究課題では，これまで制御手法が確立されていなかった車輪付きドローンの制御構造の提案を行い成果を挙げたため，学術的意義の高い研究であると言える．また，視覚情報を利用するなど，実用的な問題設定を考えている点も高い価値を持つ研究成果であると言える．また，車輪付きドローンの制御手法が確立されることにより，従来人間が行い高コストであったインフラ点検の効率化が期待できるため，社会的意義も大きいと断言できる．