DocumentCode
2234630
Title
Lateral path following GPS-based control of a small-size unmanned blimp
Author
Hygounenc, Emmanuel ; Souères, Philippe
Author_Institution
LAAS, CNRS, Toulouse, France
Volume
1
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
540
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241650
Filename
1241650
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