Development of an indoor blimp robot with internet-based teleoperation capability

  • Authors:

  • Yasuhiro Ohata;Satoshi Ushijima;Dragomir N. Nenchev

  • Affiliations:

  • Musashi Institute of Technology, Setagaya Ward, Tokyo, Japan;Musashi Institute of Technology, Setagaya Ward, Tokyo, Japan;Musashi Institute of Technology, Setagaya Ward, Tokyo, Japan

  • Venue:
  • RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
  • Year:
  • 2007

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Abstract

We are developing an indoor blimp-type robot to be used at sports and other events. The user gets access to the robot via a mobile phone or a desktop PC (the client), using Internet connectivity. The user then steers the robot to a desired location and takes pictures with the on-board camera. This paper describes the system architecture, with hardware and software components. The so-called Predictive Motion Display (PMD) technique [1] is used to support the user during teleoperation. The operation mode is a shared control one: the user has full control only within a prespecified area. In this way, undesirable collisions of the blimp can be avoided. Partial autonomous feedback control is envisioned to stabilize yaw and altitude. The paper introduces also a dynamical simulator, which we found helpful in testing the PMD.