Optimal visual servoed guidance of outdoor autonomous robotic airships

Silveira, Geraldo; Carvalho, José Oscar Fontanini de; Rives, Patrick; Azinheira, José Raul; Bueno, Sônia Maria Alves; Madrid, Marconi Kolm

doi:10.1109/acc.2002.1024909

Cited by 8 publications

(5 citation statements)

References 12 publications

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“…The control method of the AURORA airship is then validated in flight test. Besides that, Linear Quadratic Regulator (LQR) controller is utilized in combination with a vision system to track optical flight path [7]. The control system performance is then verified by using a simulation where no wind disturbance is included in the simulation.…”

Section: Fig 2: Rotor Configuration For Multirotor Rotastat Airshipmentioning

confidence: 99%

Development of attitude control system for hybrid airship vehicle

Malek¹,

Sedan²,

Harithuddin³

2018

IJET

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This paper documents and presents the development of attitude control system of Hybrid Airship Unmanned Aerial Vehicle (HAU) that should be able to change its attitude condition based on the response processed from the provided input. This is accomplished by data acquisition method that retrieves data from a flight controller and processes it into the control system without looking in deep on the mathematical model of the airship. Besides that, PID controller is used in order to create a good stable response for the hybrid airship. A working hybrid airship prototype was successfully developed and built, which is five meters in length and has four propellers that is symmetrically distanced to each other. A quadcopter attitude control mechanism is adopted into the hybrid airship to allow for good hovering capability and direct pure attitude control. Outdoor flight tests have been conducted to prove its stability in responding to attitude input given to the hybrid airship attitude controller. A data monitoring software is also written to make the data observation on the behaviour of the hybrid airship response to be easier and understandable. Result demonstrates that the hybrid airship does response to pitch, roll and yaw input from the operator, albeit the lack response stability and speed which can be improved in conservative continuation of research on the airship attitude control system.

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Section: Fig 2: Rotor Configuration For Multirotor Rotastat Airshipmentioning

confidence: 99%

Development of attitude control system for hybrid airship vehicle

Malek¹,

Sedan²,

Harithuddin³

2018

IJET

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“…The estimated lateral position was driven to zero using a nonlinear controller for the turning rate. The work in [9], considered the visual servoing of an airship wrt a linear target characterised by 3 parallel lines. This makes it possible to estimate a unique position from only visual measurements.…”

Section: Introductionmentioning

confidence: 99%

Visual servoing of a Quadrotor UAV for autonomous power lines inspection

Araar

Aouf

2014

22nd Mediterranean Conference on Control and Automation

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The objective of this work is to achieve real time tracking of power conductors using a Quadrotor Unmanned Air Vehicle (UAV). Two solutions are proposed. For the first solution, the control is directly solved in the 2D image space. The link between image features and the kinematics of the vehicle is achieved using an Image Based Visual Servoing (IBVS) formulation, combined with a Linear Quadratic Servo (LQ-Servo) approach. In the second solution, a partial pose of the vehicle with respect to (wrt) the lines is estimated. Then, a position controller designed in the Cartesian space is used to drive the vehicle to the desired configuration. Experimental results are provided to validate the two approaches.

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“…He predicted the next possible movement positions for the autonomous airship based on the image monitoring system. In 2002 and 2003, Silveira, G. F. [12] and Yasunori Kawai [13] adopted vision analysis in their airship research to acquire the position information and provide flying motion instructions from the image processing. Fig.3 shows the main structure of this blimp control system.…”

Section: B Navigation Controlmentioning

confidence: 99%

Control of autonomous airship

Liu

Pan

Stirling

et al. 2009

2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Abstract-Scientific research and development on the control of autonomous airship have shown a significant growth in recent years. New applications appear in the areas such as freight carrier, advertising, monitoring, surveillance, transportation, military and scientific research. The control of Autonomous airship is a very important problem for the aerial robots research. In this paper, the previous research on the control of autonomous blimp is reviewed, Several popular control methods are categorized and discussed in detail. Then an intelligent navigation control method, reinforcement learning control, is introduced in the autonomous blimp which was used for 2007 UAV Outback Challenge. The future work on intelligent airship control is also outlined.

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Optimal visual servoed guidance of outdoor autonomous robotic airships

Cited by 8 publications

References 12 publications

Development of attitude control system for hybrid airship vehicle

Development of attitude control system for hybrid airship vehicle

Visual servoing of a Quadrotor UAV for autonomous power lines inspection

Control of autonomous airship

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