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Development of the Autonomous Battery Exchanging System for MAV

H. Ayusawa


This paper presents an autonomous battery exchanging system for Micro Air Vehicle (MAVs). It is crucial that MAVs can land on an Unmanned Ground Vehicle (UGV) and exchange their battery autonomously, because most MAVs are limited in their flight time and they also have limited payloads. If MAVs can exchange batteries, they can explore much larger areas crucial capability after disasters since the air and ground robots can explore dangerous area  rather than putting humans are at risk. Two elements are required for this system, one is a mechanism for exchanging batteries and the second is a method for precisely landing the MAV on the UGV. This paper describes the design of a battery exchanging mechanism and the relative position estimation using a camera and marker.

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