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- 저자 : Halit Bener SUAY (검색결과 2 건)
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A Self-modeling Autonomous Airship
Halit Bener SUAY,Takehisa YAIRI,Kazuo MACHIDA 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
A self modeling airship with a parametric autonomous controller is introduced in this paper. Modeling of airships for autonomous control is a detailed and often time-taking process if some of the parameters are unknown. Although it is possible to make reasonable assumptions in some restricted case, a model generally consists of parameters such as, weight, coordinates of the center of gravity, moments of inertia, aerodynamic force coefficients and state vector of the airship. In this paper we propose taking advantage of visual markers in order to observe and estimate the state of the airship. These observations are used as an input to a linear regression process to define the relationship between the velocity and the acceleration vector of the airship. Finally as a result of the regression process aerodynamic damping parameters and provided thrust are found.
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A Study on SLAM for Indoor Blimp with Visual Markers
Tatsuya Yamada,Takehisa Yairi,Suay Halit Bener,Kazuo Machida 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
The simultaneous localization and mapping (SLAM) is an essential capability for mobile robots traveling in unknown environments where globally accurate position data is not available. In this paper, we address the SLAM problem of indoor toy blimp that has no sensors such as accelerometers and gyro except a micro camera because of the weight limits. Since it is difficult to determine the exact motion models preliminarily, we assume the motion models of the blimp. The goal of this paper is to construct a 3D map of the landmarks in environment and estimate the path taken by the indoor blimp. In this paper, we use visual markers as the landmarks, since it is difficult to detect features of the landmarks. We propose the approach to SLAM using Extended Kalman Filter (EKF) and verify the effectiveness of this approach by the experiments.
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