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Lighter than Air Robots

Part of the Intelligent Systems, Control and Automation: Science and Engineering Book Series (volume 58)

DOI: 10.1007/978-94-007-2663-5

ISBN: 978-94-007-2662-8

Publisher: Springer Netherlands - Springer Journals

Sep 6, 2011

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Introduction

Bestaoui Sebbane, Yasmina

Pages: 1 –6

[An aerial robot is a system capable of sustained flight with no direct human control and able to perform a specific task. A Lighter Than Air Robot (LTAR) is an unmanned lighter than air vehicle with sufficient autonomy. Robotic airships can also be called Aerobot. Lighter-Than-Air-Vehicles are...
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Modeling

Bestaoui Sebbane, Yasmina

Pages: 7 –44

[Nowadays, non rigid airships with a cigar shaped profile are the most common type. These airships do not have any rigid internal framework. The objective of this chapter is to present kinematics and dynamics models of a lighter than air robot, taking into account wind effect. Newton-Euler and...
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Mission Planning

Bestaoui Sebbane, Yasmina

Pages: 45 –97

[Planning can be considered as the generation of a set of paths from a set of initial states to a set of goal states of a vehicle through an environment with obstacles. Many approaches have been investigated for solving these problems. All involve some kinds of simplification aiming to capture...
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Trajectory Design

Bestaoui Sebbane, Yasmina

Pages: 99 –163

[As the lighter than air robot is under-actuated, i.e. less control inputs than degrees of freedom, the set of feasible trajectory will be restricted and consequently, the problem of trajectory generation becomes more complicated than a simple interpolation. Care must be taken in the selection of...
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Control

Bestaoui Sebbane, Yasmina

Pages: 165 –217

[The control methods implemented on lighter than air robots lie in two categories: traditional control methods and advanced control methods. The traditional control methods achieve autonomous control goals via classical control algorithms. These control methods have the advantage of being easily...
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General Conclusions

Bestaoui Sebbane, Yasmina

Pages: 219 –220

[General conclusions and perspectives are presented in the sixth and last chapter.]

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