Project AURORA: Development of an Autonomous Unmanned Remote Monitoring Robotic Airship

Elfes, Alberto; Bueno, Sônia Maria Alves; Bergerman, Marcel; Ramos, Josué Jr. Guimarães; Gomes, Sérgio Bittencourt Varella

doi:10.1590/s0104-65001998000100009

Cited by 24 publications

(9 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…The wind velocity vectors at each layer are considered as known. for z ⊆ (100, 150) (10, −10), for z ⊆ (150, 300) (9) where z is the coordinate in the vertical direction. In Fig.…”

Section: State Space Modelmentioning

confidence: 99%

See 1 more Smart Citation

Energy efficient trajectory generation for a state-space based JPL Aerobot

Zhang

Inanc

Elfes

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

The 40th anniversary of Apollo 11 project with man landing on the moon reminds the world again by what science and engineering can do if the man is determined to do. However, a huge step can only be achieved step by step which may be relatively small at the beginning. Robotic exploration can provide necessary information needed to do the further step safely, with less cost, more conveniently. Trajectory generation for a robotic vehicle is an essential part of the total mission planning. To save energy by exploiting possible resources such as wind will assist a robotic explorer extend its life span and perform tasks more reliably. In this paper, we propose to utilize Nonlinear Trajectory Generation (NTG) methodology to generate energy efficient trajectores for the JPL Aerobot by exploiting wind. The Aerobot model is decoupled into longitudinal and lateral dynamics with control inputs as elevator deflection δ e , thrust demand δ T , vectoring angle δ v for the longitudinal motion, aileron deflection δ a , rudder deflection δ r for the lateral motion. The outputs are the velocities and orientation of the Aerobot. The Aerobot state space model parameters are obtained from experimental identification on AURORA Airship since the actual JPL Aerobot is similar to the AURORA Airship. In this paper, the results show that with the state-space model, the proposed trajectory generation method can guide the Aerobot to take advantage of previously known wind profile to generate an energy-efficient trajectory.

show abstract

“…The wind velocity vectors at each layer are considered as known. for z ⊆ (100, 150) (10, −10), for z ⊆ (150, 300) (9) where z is the coordinate in the vertical direction. In Fig.…”

Section: State Space Modelmentioning

confidence: 99%

“…When the Aerobot is modeled as (5) and (8), the wind profile is assumed to be known as in (9). NTG generated the minimizing-energy 3D trajectory in Fig.…”

Section: B 3d Trajectoriesmentioning

confidence: 99%

Energy efficient trajectory generation for a state-space based JPL Aerobot

Zhang

Inanc

Elfes

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

show abstract

“…More recently, there has been a tremendous interest in controllable unmanned airships as aerial inspection platforms due to their stability properties (Elves, Bueno, Bergerman, & Ramos, 1998;Elves, Bergerman, & Bueno, 2001;Kantor, Wettergreen, Ostrowski, & Singh, 2001;Hima & Bestaoui, 2002;Khoury & Gillett, 1999;Wells, 1995;Wimmer & Well, 2001).…”

Section: Introductionmentioning

confidence: 99%

Kalman filter configurations for a low-cost loosely integrated inertial navigation system on an airship

Bijker

Steyn

2008

Control Engineering Practice

View full text Add to dashboard Cite

“…However, their properties make them a very suitable support to develop heterogeneous air/ground robotics systems: they are easy to operate, they can safely fly at very low altitudes (down to a few meters), and especially their dynamics is comparable with the ground rovers dynamics, as they can hover a long time over a particular area, while being able to fly at a few tens of kilometers per hour, still consuming little energy. Their main and sole enemy is the wind; see Elfes et al (1998) for a detailed and convincing review of the pros and cons of small-size airships with regards to helicopters and planes. Let us also note that some specific applications of unmanned blimps are more and more seriously considered throughout the world, from planetary exploration to military applications, as shown for instance by numerous contributions in the AIAA Lighter-Than-Air Conferences (e.g., AIAA 2001) and European Airship Conventions (e.g., Airship Association 2002).…”

Section: Introductionmentioning

confidence: 99%

The Autonomous Blimp Project of LAAS-CNRS: Achievements in Flight Control and Terrain Mapping

Hygounenc

Jung

Souères

et al. 2004

The International Journal of Robotics Research

120

View full text Add to dashboard Cite

In this paper we provide a progress report of the LAAS-CNRS project of autonomous blimp robot development, in the context of field robotics. Hardware developments aimed at designing a generic and versatile experimental platform are first presented. On this base, the flight control and terrain mapping issues, which constitute the main thrust of the research work, are presented in two parts. The first part, devoted to the automatic control study, is based on a rigorous modeling of the airship dynamics. Considering the decoupling of the lateral and longitudinal dynamics, several flight phases are identified for which appropriate control strategies are proposed. The description focuses on the lateral steady navigation. In the second part of the paper, we present work on terrain mapping with lowaltitude stereovision. A simultaneous localization and map building approach based on an extended Kalman filter is depicted, with details on the identification of the various errors involved in the process. Experimental results show that positioning in the three-dimensional space with a centimeter accuracy can be achieved, thus allowing the possibility to build high-resolution digital elevation maps.

show abstract

Project AURORA: Development of an Autonomous Unmanned Remote Monitoring Robotic Airship

Cited by 24 publications

References 0 publications

Energy efficient trajectory generation for a state-space based JPL Aerobot

Energy efficient trajectory generation for a state-space based JPL Aerobot

Kalman filter configurations for a low-cost loosely integrated inertial navigation system on an airship

The Autonomous Blimp Project of LAAS-CNRS: Achievements in Flight Control and Terrain Mapping

Contact Info

Product

Resources

About