Some insights in path planning of small autonomous blimps

• Autorzy: Bestaoui, Y. , Hima, S.
• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

autonomous airship; path planning; motion generation; underactuated systems

• Czasopismo: Archives of Control Sciences
• Rocznik: 2001
• Tom: Vol. 11, no. 3/4
• Strony: 139-166
• Opis fizyczny: Bibliogr 18 poz., rys., wzory

Twórcy

autor

Bestaoui, Y.

• Laboratoire des Systèmes Complexes, CEMIF, Université d’Evry Val d’Essonne, France,

autor

Hima, S.

• Laboratoire des Systèmes Complexes, CEMIF, Université d’Evry Val d’Essonne, France,

Bibliografia

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