Motion Design for Indoor Blimp Robot with PID Controller
Hidenori Kawamura*, Hisao Kadota**, Masahito Yamamoto*,
Toshihiko Takaya***, and Azuma Ohuchi*
*Graduate School of Information Science and Technology, Hokkaido University, Nishi 9, Kita 14, Kita-ku, Sapporo, Hokkaido 060-0814, Japan
**Fujitsu Limited, Shiodome City Center, 1-5-2 Higashi-Shinbashi, Minato-ku, Tokyo 105-7123, Japan
***Ricoh Software Inc., Nishi 4, Kita 7, Kita-ku, Sapporo, Hokkaido 060-0807, Japan
We report on motion design for indoor applications. Blimp robots have potential applications in monitoring, surveillance, overhead advertising, and entertainment. Since blimps are greatly influenced by airstreams and inertia during movement, researchers are widely studying control design focusing on basic motions such as hovering, rotation, and straight-line motion. We focused on motions attained by combining basic motions in motion design because different motions derived for applications are achievable by continuously combining basic motions. The results of experiments demonstrated that different motions are expressed as required.
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