Proposal for a UAV-Integrated Manipulator-Based System for Capturing Animals with Anesthesia: Simulation and Experimental-Based Validation

Abstract

In this study, a model was proposed for performing remote anesthesia on animals using a quadrotor unmanned aerial vehicle (UAV). The proposed model integrates a manipulator into the UAV, and a mechanism system for throwing an anesthesia needle was mounted on this manipulator. A solid model of the entire proposed system was created, and a mathematical model of the system was developed. The validity of the proposed model was verified by examining the system parameters through simulation studies based on this mathematical model. Two different scenarios were constructed in the simulations. In the first scenario, the system locked on the target for a fixed position, while the second scenario was on a target that is in motion in all three dimensions. In both simulations, the UAV flew autonomously along a predetermined trajectory. The results obtained were presented graphically. In addition, the system for which a solid model was created was produced and preliminary tests were carried out in the outdoor environment. It has been shown that this proposed system can be used in a real environment.