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ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
Controller for areal robot blimp
Controller for aerial robot blimpController for aerial robot blimpPASSAROLLA is learning to fly
Institute of Systems and Robotics
ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
The Target
- driver for the blimp
- high level controller on position level
- robust against wind and other dynamics
- modular structure for easy use and change
ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
Robot Structure
•Blimp with remote control
•Video camera as only sensor
•Video link
•Ground station
ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
PASSAROLLA
Nonholonomic robot
Three possible movements
•Y and Z direction:
•Rotation around Z-Achsis:
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ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
Vision
OPTICAL FLOWOPTICAL FLOW as basicTwo matrixes of the flow in horizental an vertical direction
Using a planar model for the picture
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ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
Main structure of control
ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
Low Level Control
forward/backward control
Model 1:
Model 2:
ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
Direction Control
ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
Position Control
ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
All Together
ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
Results
Motion library for an aerial robot blimp
Dynamic against wind
Very flexibel and easy to adapt to changes
ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
Further Work
Make vision more stabil and robust
Fitting more features out of vision
Advance position control with more levels like path following
Testing the controller for more situations
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