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Trajectory generation for balloon robot using time-state control form extended to three dimensions space

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Abstract

The balloon robot is made up of balloons and has airship-like functions by filling it with helium. Due to the lower risk of accidents compared to other flying robots, balloon robot is better suited for use in densely populated environments. The control characteristics of the balloon robot are that it does not skid and has non-holonomic constraint in the direction perpendicular to the propulsion direction. This makes the balloon robot difficult to control from Brockett's theorem. One of the methods for controlling a robot with non-holonomic constraints is the time-axis state control. In the previous study, predecessor developed a control law for the motion of the balloon robot in two dimensions space. In this study, we extend this control law to three dimensions space by analyzing the relationship between the pitch angle of the balloon robot and the propulsive characteristics of the pectoral fin motion. We analyze the relationship between the pitch angle of the balloon robot and the propulsive characteristics of the pectoral fins and derive the output of translational velocity and turning angular velocity by changing the motion of the pectoral fins in various ways. Based on the results, we simulate the trajectory of the aircraft.

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Authors and Affiliations

  1. The Graduate School of Informatics and Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, Japan

    Yusuke Kataoka & Masafumi Uchida

Authors
  1. Yusuke Kataoka
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  2. Masafumi Uchida
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Correspondence to Masafumi Uchida.

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Kataoka, Y., Uchida, M. Trajectory generation for balloon robot using time-state control form extended to three dimensions space. Artif Life Robotics 27, 506–512 (2022). https://doi.org/10.1007/s10015-022-00757-8

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  • DOI: https://doi.org/10.1007/s10015-022-00757-8

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