Modelling, Control and Perception for an Autonomous Robotic Airship

Authors:
Alberto Elfes;Samuel Siqueira Bueno;Josué Guimarães Ramos, Jr.;Ely C. de Paiva;Marcel Bergerman;José R. H. Carvalho;Silvio M. Maeta;Luiz G. B. Mirisola;Bruno G. Faria;José R. Azinheira
Affiliations:
-;-;-;-;-;-;-;-;-;-
Venue:
Revised Papers from the International Workshop on Sensor Based Intelligent Robots
Year:
2000

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Abstract

Robotic unmanned aerial vehicles have an enormous potential as observation and data-gathering platforms for a wide variety of applications. These applications include environmental and biodiversity research and monitoring, urban planning and traffic control, inspection of man-made structures, mineral and archaeological prospecting, surveillance and law enforcement, communications, and many others. Robotic airships, in particular, are of great interest as observation platforms, due to their potential for extended mission times, low platform vibration characteristics, and hovering capability. In this paper we provide an overview of Project AURORA (Autonomous Unmanned Remote Monitoring Robotic Airship), a research effort that focusses on the development of the technologies required for substantially autonomous robotic airships. We discuss airship modelling and control, autonomous navigation, and sensor-based flight control. We also present the hardware and software architectures developed for the airship. Additionally, we discuss our current research in airborne perception and monitoring, including mission-specific target acquisition, discrimination and identification tasks. The paper also presents experimental results from our work.