Chemnitz University of Technology Institute for AutomationThomas Krause Controller for areal robot...
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![Page 1: Chemnitz University of Technology Institute for AutomationThomas Krause Controller for areal robot blimp Controller for aerial robot blimp PASSAROLLA is.](https://reader030.fdocuments.net/reader030/viewer/2022032800/56649d445503460f94a20bfd/html5/thumbnails/1.jpg)
ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
Controller for areal robot blimp
Controller for aerial robot blimpController for aerial robot blimpPASSAROLLA is learning to fly
Institute of Systems and Robotics
![Page 2: Chemnitz University of Technology Institute for AutomationThomas Krause Controller for areal robot blimp Controller for aerial robot blimp PASSAROLLA is.](https://reader030.fdocuments.net/reader030/viewer/2022032800/56649d445503460f94a20bfd/html5/thumbnails/2.jpg)
ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
The Target
- driver for the blimp
- high level controller on position level
- robust against wind and other dynamics
- modular structure for easy use and change
![Page 3: Chemnitz University of Technology Institute for AutomationThomas Krause Controller for areal robot blimp Controller for aerial robot blimp PASSAROLLA is.](https://reader030.fdocuments.net/reader030/viewer/2022032800/56649d445503460f94a20bfd/html5/thumbnails/3.jpg)
ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
Robot Structure
•Blimp with remote control
•Video camera as only sensor
•Video link
•Ground station
![Page 4: Chemnitz University of Technology Institute for AutomationThomas Krause Controller for areal robot blimp Controller for aerial robot blimp PASSAROLLA is.](https://reader030.fdocuments.net/reader030/viewer/2022032800/56649d445503460f94a20bfd/html5/thumbnails/4.jpg)
ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
PASSAROLLA
Nonholonomic robot
Three possible movements
•Y and Z direction:
•Rotation around Z-Achsis:
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![Page 5: Chemnitz University of Technology Institute for AutomationThomas Krause Controller for areal robot blimp Controller for aerial robot blimp PASSAROLLA is.](https://reader030.fdocuments.net/reader030/viewer/2022032800/56649d445503460f94a20bfd/html5/thumbnails/5.jpg)
ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
Vision
OPTICAL FLOWOPTICAL FLOW as basicTwo matrixes of the flow in horizental an vertical direction
Using a planar model for the picture
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![Page 6: Chemnitz University of Technology Institute for AutomationThomas Krause Controller for areal robot blimp Controller for aerial robot blimp PASSAROLLA is.](https://reader030.fdocuments.net/reader030/viewer/2022032800/56649d445503460f94a20bfd/html5/thumbnails/6.jpg)
ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
Main structure of control
![Page 7: Chemnitz University of Technology Institute for AutomationThomas Krause Controller for areal robot blimp Controller for aerial robot blimp PASSAROLLA is.](https://reader030.fdocuments.net/reader030/viewer/2022032800/56649d445503460f94a20bfd/html5/thumbnails/7.jpg)
ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
Low Level Control
forward/backward control
Model 1:
Model 2:
![Page 8: Chemnitz University of Technology Institute for AutomationThomas Krause Controller for areal robot blimp Controller for aerial robot blimp PASSAROLLA is.](https://reader030.fdocuments.net/reader030/viewer/2022032800/56649d445503460f94a20bfd/html5/thumbnails/8.jpg)
ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
Direction Control
![Page 9: Chemnitz University of Technology Institute for AutomationThomas Krause Controller for areal robot blimp Controller for aerial robot blimp PASSAROLLA is.](https://reader030.fdocuments.net/reader030/viewer/2022032800/56649d445503460f94a20bfd/html5/thumbnails/9.jpg)
ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
Position Control
![Page 10: Chemnitz University of Technology Institute for AutomationThomas Krause Controller for areal robot blimp Controller for aerial robot blimp PASSAROLLA is.](https://reader030.fdocuments.net/reader030/viewer/2022032800/56649d445503460f94a20bfd/html5/thumbnails/10.jpg)
ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
All Together
![Page 11: Chemnitz University of Technology Institute for AutomationThomas Krause Controller for areal robot blimp Controller for aerial robot blimp PASSAROLLA is.](https://reader030.fdocuments.net/reader030/viewer/2022032800/56649d445503460f94a20bfd/html5/thumbnails/11.jpg)
ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
Results
Motion library for an aerial robot blimp
Dynamic against wind
Very flexibel and easy to adapt to changes
![Page 12: Chemnitz University of Technology Institute for AutomationThomas Krause Controller for areal robot blimp Controller for aerial robot blimp PASSAROLLA is.](https://reader030.fdocuments.net/reader030/viewer/2022032800/56649d445503460f94a20bfd/html5/thumbnails/12.jpg)
ChemnitzUniversity of Technology
Institute for AutomationThomas Krause
Further Work
Make vision more stabil and robust
Fitting more features out of vision
Advance position control with more levels like path following
Testing the controller for more situations