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:

=

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

= =

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