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Some insights in path planning of small autonomous blimps

Bestaoui Y., Hima S.

Archives of Control Sciences

2001

Vol. 11, no. 3/4

139-166

A blimp is a small airship that has no metal framework and collapses when deflated. In the first part of this paper, kinematics and dynamics modelling of small autonomous non rigid airships is presented. Euler angles and parameters are used in the formulation of this model. In the second part of the paper, path planning is introduced using helices with vertical axes. Motion generation for trim trajectories (helices with constant curvature and torsion) is presented. Then path planning using helices with quadratic curvature and torsion is described, and motion generation on these helices expressed. This motion generation takes into account the dynamics model presented.