| 研究課題/領域番号 |
23K13298
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| 研究種目 |
若手研究
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| 配分区分 | 基金 |
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| 審査区分 |
小区分20020:ロボティクスおよび知能機械システム関連
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| 研究機関 | 立命館大学 |
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研究代表者 |
PAUL Hannibal 立命館大学, 総合科学技術研究機構, 研究員 (90952888)
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| 研究期間 (年度) |
2023-04-01 – 2025-03-31
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| 研究課題ステータス |
交付 (2023年度)
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| 配分額 *注記 |
3,380千円 (直接経費: 2,600千円、間接経費: 780千円)
2024年度: 1,040千円 (直接経費: 800千円、間接経費: 240千円)
2023年度: 2,340千円 (直接経費: 1,800千円、間接経費: 540千円)
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| キーワード | UAV / aerial manipulation / adaptive landing / docking / aerial vision |
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| 研究開始時の研究の概要 |
A three-arm aerial manipulator system with lightweight is considered. The autonomous control of UAV and manipulator system will be implemented using on-board processor and depth vision system. The manipulator design will be used to implement landing and stopping strategy for UAV in various places.
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| 研究実績の概要 |
The research aimed to develop a hardware system for an aerial robot (UAV) capable of performing multiple tasks. A hardware setup comprising three robot arms attached to the UAV was prepared. A real test with the developed hardware confirmed its functionality.
A depth camera is attached on the UAV for sensing its surroundings. To increase the field of view, a mechanism was utilized to move it. The camera could be adjusted to focus on the specific region for further 3D data processing.
Simulation using Gazebo with ROS2 was employed to test the drone's performance. Simulation tools proved invaluable for developing drone systems, allowing free flight inside the simulator to test cameras and actuators.
Image processing development is in progress.
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| 現在までの達成度 (区分) |
現在までの達成度 (区分)
1: 当初の計画以上に進展している
理由
The UAV hardware system, including the attached manipulator system, has been completed, and initial manual flight tests have been conducted to verify system operations. Additionally, the manipulator motion has been tested with the program running in ROS.
A simulation for the drone has been set up to perform initial tests, including autonomous flight tests in different modes. This simulation was successfully tested with ROS2, which enhances the system's potential for long-term use due to ROS2's popularity in robotic development.
A camera system, incorporating a depth camera along with motion functionality to increase the field of view, has been installed on the UAV.
Work is underway on the image processing system.
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| 今後の研究の推進方策 |
Moving forward with the research project, the immediate focus will be on completing the image processing system to enhance the capabilities of the UAV. Advanced algorithms for surface detection, particularly focusing on cylindrical objects for docking and precise identification of landing surfaces, will be integrated.
After further simulation tests, real flight tests using image processing feedback will be conducted with autonomous flight. These tests will serve as critical validation points for the efficacy of the algorithms in real-world scenarios and will provide valuable insights into the system's performance under various conditions.
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