Attitude control of a camera mounted-type tethered quadrotor for infrastructure inspection

Use of unmanned aerial vehicles is considered as one of the means which performs infrastructure inspection. Since the operation from GPS or the outside is not needed but the method by a quadrotor with a tether can perform the position control of the airframe, it can be used for the inspection of infrastructures, such as a tunnel and a bridge. In this research, it aims to develop and control a camera mounted-type tethered quadrotor as a backup system of proximity viewing by people in infrastructure inspection. Especially, the development and control of a stabilizer for stabilizing a mounted camera in 2-DOFs are described in detail here. Moreover, the flight experiment of the airframe is conducted to verify the usefulness of the proposed system.