回転する飛行船：回転力学と移動を活用した新型ミニマル空中ビークルの設計と制御
The Spinning Blimp: Design and Control of a Novel Minimalist Aerial Vehicle Leveraging Rotational Dynamics and Locomotion
扁球型ヘリウム気球に受動翼とプロペラを組み合わせ、回転による振り子安定化と移動制御を実現した低エネルギー飛行船を提案・実験検証した。
著者: Leonardo Santens, Diego S. D'Antonio, Shuhang Hou, David Saldaña
分類: cs.RO
原文アブストラクト
This paper presents the Spinning Blimp, a novel lighter-than-air (LTA) aerial vehicle designed for low-energy stable flight. Utilizing an oblate spheroid helium balloon for buoyancy, the vehicle achieves minimal energy consumption while maintaining prolonged airborne states. The unique and low-cost design employs a passively arranged wing coupled with a propeller to induce a spinning behavior, providing inherent pendulum-like stabilization. We propose a control strategy that takes advantage of the continuous revolving nature of the spinning blimp to control translational motion. The cost-effectiveness of the vehicle makes it highly suitable for a variety of applications, such as patrolling, localization, air and turbulence monitoring, and domestic surveillance. Experimental evaluations affirm the design's efficacy and underscore its potential as a versatile and economically viable solution for aerial applications.
