Cooperative Monitoring Using Drones with Driven Wheels and Experimental Verifications

2022 Fiscal Year Final Research Report

• Project/Area Number: 20K14762
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 21040:Control and system engineering-related
• 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): 2020-04-01 – 2023-03-31
• Keywords: 制御工学 / ドローン / 協調制御

Outline of Final Research Achievements

This project tackled three main issues concerning cooperative monitoring control systems that utilize drones with driven wheels. These issues are as follows: (1) constrained control of mobile robots and drones, (2) switching control of two-wheeled drones between flight and wheeled driving, and (3) cooperative control of drones considering constraints. For issue (1), several theoretical results were obtained as planned. For issue (2), control Lyapunov functions and control barrier functions-based results were obtained. For issue (3), theoretical results were proposed, and their effectiveness was validated through experiments.

Free Research Field

制御工学

Academic Significance and Societal Importance of the Research Achievements

本研究課題では，これまで確立されていなかった車輪付きドローンの飛行・車輪走行を切り替える制御理論を提案したため，学術的に高い意義を持つ研究であると言える．また，複数の課題において実機実験を行い，実用面にも着目した研究であると言える．本研究成果により，社会的に重要な課題である環境モニタリングの効率化が期待できるため，大きな社会的意義を持つ研究内容であると言える．