A novel design and control of robotic wheeled blimp for tele-guidance

This paper presents a novel design of indoor airship having a passive wheeled mechanism and its stationary position control. The wheeled blimp can work both on the ground using wheeled vehicle part and in the air using the floating capability of the blimp part. The wheeled blimp stands on the floor...

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Bibliographic Details
Published inProceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694) Vol. 1; pp. 67 - 72 vol.1
Main Authors Sungchul Kang, Mihee Nam, Bongsuk Kim, Tsubouchi, T., Yuta, S.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2003
Subjects
Control systems
Indoor environments
Land vehicles
Mobile robots
Position control
Road vehicles
Robot control
Torque control
Vehicle dynamics
Wheels
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Summary:This paper presents a novel design of indoor airship having a passive wheeled mechanism and its stationary position control. The wheeled blimp can work both on the ground using wheeled vehicle part and in the air using the floating capability of the blimp part. The wheeled blimp stands on the floor keeping its balance using a caster-like passive wheel mechanism. In tele-guidance application, stationary position control is required to make the wheeled blimp naturally communicate with people standing phase since the stationary blimp system responds sensitively to air flow even in indoor environments. To control the desired stationary position, a computed torque control method is adopted. By performing a controller design through dynamic analysis, the control characteristics of the wheeled blimp system have been successfully developed. The effectiveness of the controller is verified by experiment for the real wheeled blimp system.
ISBN:9780780378667
0780378660
DOI:10.1109/CIRA.2003.1222065