This paper describes the design of a lighter than air autonomous robot and its natural landmark navigation system that operates in three dimensions. The robot has successfully flown the University banner at science shows and open days under public scrutiny. The robot is nearly 2m long and 0.8m wide, making the robot suitable for use in indoor environments. The robot may be programmed to fly a course by giving the robot a sequence of landmarks and trajectories. In addition, the robot may be programmed to look for landmarks that indicate a navigational error. Error landmarks are then paired with correction trajectories so that the robot can resume normal navigation. The navigational planner shares messages with a set of low level reactive controllers that perform the necessary trajectory generation. This paper describes the hardware considerations for building an indoor autonomous blimp, and supplies details of the landmark navigation system. Results from the robot are supplied and extensions suggested.
KeywordsHelium Sonar Banner
Unable to display preview. Download preview PDF.
- [Barron, 1995]Ivan Barron. An Autonomous Blimp. Honours Thesis, Department of Electrical and Computer Engineering, The University of Queensland, 1995.Google Scholar
- [Fagg et al, 1993]A. Fagg, M. Lewis, J. Montgomery, G. Bekey. The USC Autonomous Flying Vehicle: An Experiment in Real-Time Behaviour-Based Control. Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, July 1993, pp. 1173–80Google Scholar
- [Paulos and Canny, 1997]E. Paulos and J. Canny. Ubiquitous Tele-embodiment: Applications and Implications. International Journal of Human-Computer Studies, 1997.Google Scholar
- [Pearson et al, 1993]