小型飛行船型ロボットによる風対抗移動制御法の実験検証

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2015/05/01

タイトル(英語): Experimental Validation of Blimp Movement Control against Wind

著者名: 森川　弘貴（芝浦工業大学），島田　明（芝浦工業大学）

著者名(英語): Koki Morikawa (Shibaura Institute of Technology), Akira Shimada (Shibaura Institute of Technology)

キーワード: 小型飛行船，移動制御，外乱オブザーバ，実験検証，風外乱　　blimp，movement control，disturbance observer，experimental validation，wind disturbance

要約(英語): Intelligent mobile robots are expected to reach target locations while avoiding obstacles. However, there are many obstacles in our living space. Therefore, it is not easy to develop wheeled or legged robots that can avoid obstacles in such environments. One solution is a blimp robot. It can go over obstacles easily and does not need much driving force. Our final goal is to develop a blimp robot that flies freely in a three-dimensional space. As a preliminary step, in this paper, we present the experimental results and discussion of airship control technology using an image processing system and wind disturbance observer.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.135 No.5 （2015）

本誌掲載ページ: 488-493 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/ieejias/135/5/135_488/_article/-char/ja/