LAIDR: A Robotics Research Platform for Entertainment Applications
| Autor: | Mun Sang Kim, Yundong Lee, Ahmed Elsharkawy, Dongwoo Koo, Khawar Naheem |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Lighter than air Computer science business.industry media_common.quotation_subject 010401 analytical chemistry Robotics Rotational speed Control engineering 02 engineering and technology Propulsion Inertia 01 natural sciences 0104 chemical sciences 020901 industrial engineering & automation Control system Airframe Robot Artificial intelligence business media_common |
| Zdroj: | 2020 International Conference on Unmanned Aircraft Systems (ICUAS). |
| Popis: | In this paper, a Lighter Than Air Indoor Robot (LAIDR) is developed for entertainment applications. An Adaptive Propulsion Mechanism (APM) is proposed to actuate the LAIDR using the minimal number of Propulsion Units (PUs) and facilitate the variable in-mission PU configurations within the same airframe. Usually, the helium-inflated vehicle poses instability due to body inertia and indoor disturbance, i.e., air stream. Therefore, a customized control system is designed using MathWorks PX4 autopilots support from embedded coder. The designed controllers stabilize the motion by controlling PU’s in-frame angle and rotational speed. Moreover, the Ultra-wide Band (UWB) sensors are used to localize the LAIDR in the indoor environment. Finally, a real-time implementation is elaborated to justify the LAIDR applicability in the entertainment applications. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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