時間軸状態制御形を用いたバルーンロボットの軌道生成

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2022/09/01

タイトル(英語): Trajectory Generation of Balloon Robot Using Time-based State Control Form

著者名: 堀　雄貴（電気通信大学大学院情報理工学研究科），内田　雅文（電気通信大学大学院情報理工学研究科）

著者名(英語): Katsuki Hori (Graduate School of Informatics and Engineering, The University of Electro-Communications), Masafumi Uchida (Graduate School of Informatics and Engineering, The University of Electro-Communications)

キーワード: バルーンロボット，時間軸状態制御形，胸鰭_x000D_　　balloon robot，time-state control form，pectoral fin

要約(英語): The purpose of this study is to construct an automatic control form that can stably and precisely control the movement of a balloon robot by applying a control system using a temporal state control form with the movement distance as the time axis. Using this system, simulations were conducted for multiple paths to confirm the performance of the control system. As a result of the simulation, it was confirmed that the arrival speed to the target axis and the trajectory can be changed by changing the newly introduced gain. In addition, the same control system was able to track a complex path combining straight lines in the simulation. These results show that the control system developed in this study can be controlled more precisely than the time-state control form with the x-axis as the time axis, and also has high versatility by adjusting the gain.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.142 No.9 （2022） 特集：知能メカトロニクス分野と連携する知覚情報技術

本誌掲載ページ: 1041-1047 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/142/9/142_1041/_article/-char/ja/