Wheeled Blimp: Hybrid Structured Airship with Passive Wheel Mechanism for Tele-guidance Applications

Sungchul Kang, Woosub Lee, Mihee Nam, Takashi Tsubouchi, Shinichi Yuta

研究成果: Paper査読

3 被引用数 (Scopus)

抄録

This paper presents a novel design of indoor airship having a passive wheeled mechanism and its stationary position control. This wheeled blimp can work both on the ground using wheeled vehicle part and in the air using the floating capability of the blimp part. The wheeled blimp stands on the floor keeping its balance using a caster-like passive wheel mechanism. In tele-guidance application, stationary position control is required to make the wheeled blimp naturally communicate with people in standing phase since the stationary blimp system responds sensitively to air flow even in indoor environments. To control the desired stationary position, a computed torque control method is adopted. By performing a controller design through dynamic analysis, the control characteristics of the wheeled blimp system have been found and finally the stable control system has been successfully developed. The effectiveness of the controller is verified by experiment for the real wheeled blimp system.

本文言語English
ページ3552-3557
ページ数6
出版ステータスPublished - 2003 12 26
イベント2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
継続期間: 2003 10 272003 10 31

Conference

Conference2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
国/地域United States
CityLas Vegas, NV
Period03/10/2703/10/31

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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