A Deep Learning Approach to Localization for Navigation on a Miniature Autonomous Blimp

Seguin, Landan; Zheng, Justin; Li, Alberto; Tao, Qiuyang; Zhang, Fumin

doi:10.1109/icca51439.2020.9264514

Cited by 5 publications

(4 citation statements)

References 29 publications

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“…Thus, we conducted various ex periments to reveal the vehicle's 3D positioning accuracy, autonomous flight during fixed and user footprint-based waypoints following tasks, and the user's intention perception by recognizing on-air drawn spatial pattern. Compared to [23], we accomplished a simila 3D positioning accuracy but over a wider area. At a glance, our results evaluated the over all waypoints following of the UWB-based LAIDR qualitatively.…”

Section: Discussionmentioning

confidence: 99%

“…However, these tracking systems are; very expensive as space area increases, sensitive to ambient light conditions, complex to install, and require proper calibration. SLAM and deep-learning-based localization are other popular approaches that have shown good results [ 20 , 21 , 22 , 23 ]. However, these systems are confined to a local reference frame and usually require sophisticated hardware, e.g., vision sensors such as a laser scanner, depth camera, and monocular camera, which require complex and computationally expensive algorithms.…”

Section: Introductionmentioning

confidence: 99%

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A UWB-Based Lighter-Than-Air Indoor Robot for User-Centered Interactive Applications

Naheem¹,

Elsharkawy²,

Koo³

et al. 2022

Sensors

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Features such as safety and longer flight times render lighter-than-air robots strong candidates for indoor navigation applications involving people. However, the existing interactive mobility solutions using such robots lack the capability to follow a long-distance user in a relatively larger indoor space. At the same time, the tracking data delivered to these robots are sensitive to uncertainties in indoor environments such as varying intensities of light and electromagnetic field disturbances. Regarding the above shortcomings, we proposed an ultra-wideband (UWB)-based lighter-than-air indoor robot for user-centered interactive applications. We developed the data processing scheme over a robot operating system (ROS) framework to accommodate the robot’s integration needs for a user-centered interactive application. In order to explore the user interaction with the robot at a long-distance, the dual interactions (i.e., user footprint following and user intention recognition) were proposed by equipping the user with a hand-held UWB sensor. Finally, experiments were conducted inside a professional arena to validate the robot’s pose tracking in which 3D positioning was compared with the 3D laser sensor, and to reveal the applicability of the user-centered autonomous following of the robot according to the dual interactions.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A UWB-Based Lighter-Than-Air Indoor Robot for User-Centered Interactive Applications

Naheem¹,

Elsharkawy²,

Koo³

et al. 2022

Sensors

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“…The Georgia Tech Miniature Autonomous Blimp (GT-MAB) (Cho et al, 2017;Seguin et al, 2020) has a long flight duration of up to two hours per battery charge. Like the S-CLOUD drone, the GT-MAB drone is safe around humans and does not pose any significant risk.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Helium-Assisted Hybrid Drone for Flight Time Enhancement

Macias¹,

Lee²

2022

American Journal of Engineering and Applied Sciences

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In this study, a new design of a helium-assisted hybrid drone is proposed for flight time enhancement. As is widely known, most of the drones with a Vertical Take-Off and Landing (VTOL) feature have a short operation time, limiting their capability to carry out sustainable operations for the given missions. Thus, with the clear goal of enhancing flight time, this study aims to develop a hybrid drone system, where a helium balloon is used to provide a lifting force for this purpose. The proposed design for the hybrid drone has several benefits including easiness to manufacture and relatively small size when compared to other types of hybrid drones. Various analyses are conducted for the design of the hybrid drone system including the balloon shape and size, buoyant force, flight time, and connector design. Since stability and performance are one of the most important issues for the new design, the pole location analysis is conducted based on the control theory. This rigorous analysis provides that the proposed hybrid drone design is stable as well as robust against swinging motions. To validate the effectiveness of the proposed design and flight time enhancement, simulations were conducted and indoor experimental results are also provided using the manufactured hybrid drone system. Through real experiments, it is proved that the hybrid drone can increase the flight time by more than 2.5 times while guaranteeing stable motions.

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“…Yuan is with the School of Automation, Huazhong University of Science and Technology, Wuhan 430074, China (e-mail: yye@hust.edu.cn). including 3D field mapping [10], [11], human-robot interaction (HRI) [12], [13], and testbed for deep-learning-based localization and multi-agent path planning [14], [15]. However, lateral and longitudinal oscillation is often observed due to the underactuated design and the unique aerodynamic shape.…”

Section: Introductionmentioning

confidence: 99%

Swing-Reducing Flight Control System for an Underactuated Indoor Miniature Autonomous Blimp

Tao

Wang

et al. 2021

IEEE/ASME Trans. Mechatron.

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This paper presents the first swing stabilization control for indoor miniature autonomous blimps (MABs). Indoor MABs are safe to operate in close proximities to humans and can fly for multiple hours, but swing oscillation is commonly observed due to their underactuated design and unique aerodynamic shape. In this paper, we analyze the flight characteristics of indoor MABs, and describe the design of the swing-reducing flight control system in detail. Key mechatronic designs for swingstabilization control are also presented. Experimental results show that the proposed controller can keep the blimp travel at the desired velocity while effectively stabilizing the swing oscillation. The swing-reducing velocity controller is then expanded for station-keeping and waypoint navigation in 3D space.

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A Deep Learning Approach to Localization for Navigation on a Miniature Autonomous Blimp

Cited by 5 publications

References 29 publications

A UWB-Based Lighter-Than-Air Indoor Robot for User-Centered Interactive Applications

A UWB-Based Lighter-Than-Air Indoor Robot for User-Centered Interactive Applications

Design and Analysis of a Helium-Assisted Hybrid Drone for Flight Time Enhancement

Swing-Reducing Flight Control System for an Underactuated Indoor Miniature Autonomous Blimp

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