劣駆動飛行船の人間支援操縦のためのハイブリッド制御器設計
A Hybrid Controller Design for Human-Assistive Piloting of an Underactuated Blimp
屋内飛行船の手動操縦を支援するため、人間の指令実行と自動安定化制御を先読み的に切り替えるハイブリッド制御器を提案し、操縦者が気づかないうちに安定化支援を行う。
著者: Wugang Meng, Tianfu Wu, Qiuyang Tao, Fumin Zhang
分類: cs.RO
原文アブストラクト
This paper introduces a novel solution to the manual control challenge for indoor blimps. The problem's complexity arises from the conflicting demands of executing human commands while maintaining stability through automatic control for underactuated robots. To tackle this challenge, we introduced an assisted piloting hybrid controller with a preemptive mechanism, that seamlessly switches between executing human commands and activating automatic stabilization control. Our algorithm ensures that the automatic stabilization controller operates within the time delay between human observation and perception, providing assistance to the driver in a way that remains imperceptible.
