Lighter than Air Robots : Guidance and Control of Autonomous Airships
An aerial robot is a system capable of sustained flight with no direct human control and able to perform a specific task. A lighter than air robot is an aerial robot that relies on the static lift to balance its own weight. It can also be defined as a lighter than air unmanned aerial vehicle or an u...
Wedi'i Gadw mewn:
| Prif Awdur: | |
|---|---|
| Fformat: | Livre numérique |
| Iaith: | Anglais |
| Cyhoeddwyd: |
Dordrecht :
Springer Netherlands
2012.
Cham : Springer Nature |
| Cyfres: | Intelligent Systems, Control and Automation: Science and Engineering
58 |
| Pynciau: | |
| Mynediad Ar-lein: | Accès sur la plateforme de l'éditeur Accès sur la plateforme Istex Accès Université d'Orléans Accès INSA CVL |
| Nodyn: |
Archives Springer e-books (Licence nationale) Archives Springer e-books (Licence nationale) |
| Autres localisations: | Voir dans le Sudoc |
| Edition sous un autre format: | • Lighter than air robots, Guidance and control of autonomous airships, Yasminia Bestaoui Sebbane, Dordrecht, Springer, 2012, 1 vol. (XVII-251 p.), Intelligent systems, control and automation, 978-94-007-2662-8 |
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| 100 | 1 | |a Bestaoui Sebbane, Yasmina, |d 19..-2018. | |
| 245 | 1 | 0 | |a Lighter than Air Robots : |b Guidance and Control of Autonomous Airships |c Yasmina Bestaoui Sebbane. |
| 260 | |a Dordrecht : |b Springer Netherlands. | ||
| 260 | |a Cham : |b Springer Nature, |c 2012. | ||
| 490 | 0 | |a Intelligent Systems, Control and Automation: Science and Engineering |v 58 | |
| 500 | |a Archives Springer e-books (Licence nationale) | ||
| 500 | |a Archives Springer e-books (Licence nationale) | ||
| 505 | 1 | |a 1 Introduction 1.1 Aerial robotics 1.2 Outline of the book 2 Modeling 2.1 Introduction 2.2 Kinematics 2.2.1 Euler angles 2.2.2 Euler parameters 2.3 Dynamics 2.3.1 Mass Characteristics 2.3.2 6 DOF Dynamics : Newton-Euler Approach 2.3.3 6 DOF Dynamics : Lagrange Approach 2.3.4 Translational Dynamics . 2.4 Aerology Characteristics 2.4.1 Wind Profile 2.4.2 Down burst 2.5 Conclusions 3 Mission Planning 3.1 Introduction 3.2 Flight Planning 3.3 Motion Planning Algorithms Review 3.3.1 Overall Problem description 3.3.2 Problem Types 3.4 Planning with differential constraints 3.4.1 Roadmap algorithm 3.4.2 Artificial Potential Methods 3.4.3 Sampling based trajectory planning 3.4.4 Decoupled Trajectory Planning 3.4.5 The Finite State Motion Model: The Maneuver Automaton 3.4.6 Mathematical Programming 3.4.7 Receding Horizon Control 3.4.8 Reactive Planning 3.4.9 Probabilistic Roadmap Methods: PRM 3.4.10 Rapidly Expanding Random Tree (RRT) 3.4.11 Guided Expansive Search Trees 3.5 Planning with Uncertain Winds 3.5.1 Receding Horizon Approach 3.5.2 Markov Decision Process Approach 3.5.3 Chance constrained predictive control under stochastic uncertainty 3.6 Planning in Strong Winds 3.7 Task Assignment 3.8 Conclusions 4.1 Introduction 4.2 Trajectory Generation in Hover 4.2.1 Trim Trajectories 4.2.2 Under-actuation at Hover 4.3 Lateral planning in cruising flight 4.3.1 Lateral dynamics of the lighter than air robot 4.3.2 Time Optimal Extremals 4.4 Zermelo Navigation Problem 4.4.1 Navigation equation | |
| 506 | |a Accès en ligne pour les établissements français bénéficiaires des licences nationales | ||
| 506 | |a Accès soumis à abonnement pour tout autre établissement | ||
| 506 | |a Conditions particulières de réutilisation pour les bénéficiaires des licences nationales. https://www.licencesnationales.fr/springer-nature-ebooks-contrat-licence-ln-2017 | ||
| 520 | |a An aerial robot is a system capable of sustained flight with no direct human control and able to perform a specific task. A lighter than air robot is an aerial robot that relies on the static lift to balance its own weight. It can also be defined as a lighter than air unmanned aerial vehicle or an unmanned airship with sufficient autonomy. Lighter than air systems are particularly appealing since the energy to keep them airborne is small. They are increasingly considered for various tasks such as monitoring, surveillance, advertising, freight carrier, transportation. This book familiarizes readers with a hierarchical decoupled planning and control strategy that has been proven efficient through research. It is made up of a hierarchy of modules with well defined functions operating at a variety of rates, linked together from top to bottom. The outer loop, closed periodically, consists of a discrete search that produces a set of waypoints leading to the goal while avoiding obstacles and weighed regions. The second level smoothes this set so that the generated paths are feasible given the vehicle's velocity and accelerations limits. The third level generates flyable, timed trajectories and the last one is the tracking controller that attempts to minimize the error between the robot measured trajectory and the reference trajectory. This hierarchy is reflected in the structure and content of the book. Topics treated are: Modelling, Flight Planning, Trajectory Design and Control. Finally, some actual projects are described in the appendix. This volume will prove useful for researchers and practitioners working in Robotics and Automation, Aerospace Technology, Control and Artificial Intelligence | ||
| 650 | |a Commande intelligente | ||
| 650 | |a Drones |x Systèmes de commande (vol) | ||
| 650 | |a Véhicules télécommandés | ||
| 650 | |a Avions |x Systèmes de commande (vol) | ||
| 776 | 0 | |0 170148416 |t Lighter than air robots |o Guidance and control of autonomous airships |f Yasminia Bestaoui Sebbane |c Dordrecht |n Springer |d 2012 |p 1 vol. (XVII-251 p.) |s Intelligent systems, control and automation |z 978-94-007-2662-8 | |
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| 997 | |0 973928 |1 Livre numérique |a Ressource numérique |b INSA |b ENSA |c 0/Bibliothèque numérique/ |c 1/Bibliothèque numérique/Autre ressource numérique/ | ||