Abstract
Recently, drones have been utilized in various fields. The drones for firefighting have the capability to carry out various missions such as delivery of items or assistance. In this paper, we explain the drone with six powerful motors and a multi-functional gripper on the side of the drone used for conducting various missions. The drone body, which is lightweight but with high stiffness, is composed of carbon fibers. We used a PID controller and analyzed acquired sensor data during a flight by using Mission Planner software in order to improve flight stability and safety. The suggested drone could be used in firefighting missions, such as docking to the electric pole or delivering items horizontally using the equipped gripper. In addition, after fixing on the pole, equipped robot arms can conduct missions for workers at high altitude. Therefore, it could provide the safety of the firefighter and survivors.
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