论文标题
模拟和控制湍流中的可变形自动飞艇
Simulation and Control of Deformable Autonomous Airships in Turbulent Wind
论文作者
论文摘要
抽象的。固定翼和多旋转无人机在机器人技术领域很常见。模拟和控制这些车辆的解决方案无处不在。飞艇不是这种情况，它需要解决其独特的特性，i）响应空气动力和控制力的动态变形，ii）在低空飞速下对风和湍流的高敏感性，iii）关于位置，方向和矢量图的高速公路设计的高可变性。我们提出了一个灵活的框架，用于基于机器人操作系统（ROS），仿真环境（凉亭）和货架（COTS）电子产品的建模，模拟和控制飞艇的框架，它们都是开源的。基于模拟的风和变形，我们预测了对可控性的实质性影响，这在现实世界飞行实验中得到了验证。我们所有的代码都作为开源，为了社区的利益，并促进了比飞机更轻（LTAV）研究。 https://github.com/robot-ception-group/airship_simulation
Abstract. Fixed wing and multirotor UAVs are common in the field of robotics. Solutions for simulation and control of these vehicles are ubiquitous. This is not the case for airships, a simulation of which needs to address unique properties, i) dynamic deformation in response to aerodynamic and control forces, ii) high susceptibility to wind and turbulence at low airspeed, iii) high variability in airship designs regarding placement, direction and vectoring of thrusters and control surfaces. We present a flexible framework for modeling, simulation and control of airships, based on the Robot operating system (ROS), simulation environment (Gazebo) and commercial off the shelf (COTS) electronics, both of which are open source. Based on simulated wind and deformation, we predict substantial effects on controllability, verified in real world flight experiments. All our code is shared as open source, for the benefit of the community and to facilitate lighter-than-air vehicle (LTAV) research. https://github.com/robot-perception-group/airship_simulation
