乱流中の変形可能な自律飛行船のシミュレーションと制御
Simulation and Control of Deformable Autonomous Airships in Turbulent Wind
ROSとGazeboを用いて、空気力による動的変形や乱流への影響、推進器配置の多様性に対応した飛行船のモデリング・シミュレーション・制御フレームワークを構築し、実機飛行で検証した。
著者: Eric Price, Yu Tang Liu, Michael J. Black, Aamir Ahmad
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Abstract. Fixed wing and multirotor UAVs are common in the field of robotics. Solutions for simulation and control of these vehicles are ubiquitous. This is not the case for airships, a simulation of which needs to address unique properties, i) dynamic deformation in response to aerodynamic and control forces, ii) high susceptibility to wind and turbulence at low airspeed, iii) high variability in airship designs regarding placement, direction and vectoring of thrusters and control surfaces. We present a flexible framework for modeling, simulation and control of airships, based on the Robot operating system (ROS), simulation environment (Gazebo) and commercial off the shelf (COTS) electronics, both of which are open source. Based on simulated wind and deformation, we predict substantial effects on controllability, verified in real world flight experiments. All our code is shared as open source, for the benefit of the community and to facilitate lighter-than-air vehicle (LTAV) research. https://github.com/robot-perception-group/airship_simulation
