2A2-B02 時間制約付き飛行プランに基づく屋内飛行船ロボットの制御(飛行ロボット・メカトロニクス)

概要

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This paper describes that an indoor balloon control system based on flight plan with constraint time. Indoor balloon robots have the features of using buoyancy to move three dimensional movements, moving less energy. Furthermore, balloon robot has high safety to crash, and can use it safely also in indoor space. For these features, indoor balloon robots have enormous potential for applications such as an entertainment flight, automatic surveillance. Our goal is synchronized flying. However, they have difficulties to control because of nonlinear thrust and air resistance. We develop of the control system based on flight plan with constraint time that balloon robot might be able to move freely 3D space with constraint time. The experimental results show that the control system based on flight plan with constraint time is effective and might be applied to the synchronized flying for indoor balloon robot.
一般社団法人日本機械学会の論文
2007-05-11