Title :
Lateral path following GPS-based control of a small-size unmanned blimp
Author :
Hygounenc, Emmanuel ; Souères, Philippe
Author_Institution :
LAAS, CNRS, Toulouse, France
Abstract :
This paper presents recent automatic control developments of the airship robot Karma of LAAS-CNRS. More precisely, it focuses on the lateral control strategy which is based on the decoupled dynamics. Using an external control loop to stabilize the longitudinal dynamics, a path following controller is proposed for driving the robot within the horizontal plane. The proposed strategy allows to consider the lateral slippage inherent in the blimp´s dynamics.
Keywords :
Global Positioning System; aerospace robotics; controllers; industrial control; mobile robots; path planning; remotely operated vehicles; GPS-based control; LAAS-CNRS; airship robot Karma; automatic control; decoupled dynamics; lateral control strategy; path following controller; unmanned blimp; Artificial intelligence; Automatic control; Global Positioning System; Intelligent robots; Modeling; Navigation; Propellers; Robot kinematics; Robotics and automation; Sensor systems;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241650
