Indoor human face following with environmental fisheye cameras and blimp

Srisamosorn, Veerachart; Kuwahara, Noriaki; Yamashita, Atsushi; Ogata, Taiki; Shirafuji, Shouhei; Ota, Jun

doi:10.1080/01691864.2020.1747537

Cited by 6 publications

(2 citation statements)

References 7 publications

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“…However, existing aerial platforms have not developed the smooth and safe indoor operations necessary for human interaction. Existing drones like quadcopters are still notoriously unsatisfactory in aspects including safety and endurance [5]- [8]. For example, mini drones usually exhibit sub-ten minute flight times [9], and require cages and netted enclosures for safe indoor operation.…”

Section: Introductionmentioning

confidence: 99%

“…However, only the altitude-related modeling and control was considered in [28]- [30]. Our previous work [10] and the recent paper [8] decomposed the movement of the blimp into a set of motion primitives, and designed the waypoint controllers by combining the primitive movements. Similarly, the recent work [31] designed flight controllers for the decoupled vertical and planar motions of an indoor blimp.…”

Section: Introductionmentioning

confidence: 99%

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Swing-Reducing Flight Control System for an Underactuated Indoor Miniature Autonomous Blimp

Tao

Wang

et al. 2021

IEEE/ASME Trans. Mechatron.

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This paper presents the first swing stabilization control for indoor miniature autonomous blimps (MABs). Indoor MABs are safe to operate in close proximities to humans and can fly for multiple hours, but swing oscillation is commonly observed due to their underactuated design and unique aerodynamic shape. In this paper, we analyze the flight characteristics of indoor MABs, and describe the design of the swing-reducing flight control system in detail. Key mechatronic designs for swingstabilization control are also presented. Experimental results show that the proposed controller can keep the blimp travel at the desired velocity while effectively stabilizing the swing oscillation. The swing-reducing velocity controller is then expanded for station-keeping and waypoint navigation in 3D space.

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Section: Introductionmentioning

confidence: 99%