In the first part of this paper, the authors have discussed dynamic modeling of small autonomous blimps. Blimps are highly interesting study objects due to their stability properties. Here, motion is referenced to a system of orthogonal body axes fixed in the airship, with the origin assumed to coincide with the center of gravity. The equations of motion are derived from the Newton-Euler approach. The second part of this paper addresses the problem of characterizing continuous paths in 3D, taking into account under-actuation. Three differential algebraic equations must be solved as there era six degrees of freedom and three inputs. The constraint on the yaw angle is in the form of a generalized logistic equation, while the other constraints are differential algebraic equations in v and w, when the variations of the longitudinal velocity u, and the pitch and roll angles are imposed. The role of the trajectory generator is to generate a feasible time trajectory for the aerial robot. Once the path has been calculated in the Earth fixed frame, motion must be investigated and reference trajectories determined taking into account actuators constraints. This is the subject of their actual research. This methodology can be applied to other types of UAV, taking into account their characteristics: for fixed wing aircraft or helicopter, the added mass and inertia are neglected.
Modelling and trajectory generation of lighter-than-air aerial robots - invited paper
Modellierung und Trajektoriengenerierung für fliegende Leichter-als-Luft-Roboter. Eingeladener Beitrag
2007
26 Seiten, 10 Bilder, 26 Quellen
Conference paper
English
Online Contents | 1995
Online Contents | 1994
Engineering Index Backfile | 1930
|