Abstract minagawa

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This document is a master's thesis from February 14, 2007 on the development of an indoor balloon robot flight control system based on PID control. The system aims to allow balloon robots to freely move in 3D space. The control system consists of motion design to achieve flight units and a controller to reach target states based on calculating velocity deviations from target and actual states. Experiments on station-keeping, rotation, and straight-line motions demonstrated the system's effectiveness for potential indoor balloon robot applications.

複合情報学専攻修士論文 (2007 年 2 月 14 日)

PID 制御に基づく屋内飛行船ロボットの飛行制御システムの開発
複雑系工学講座調和系工学研究室修士 2 年皆川良弘

Indoor Balloon Robot Control System based on PID Controller
Research Group of Complex Systems Engineering
Laboratory of Harmonious Systems Engineering
MC2 Yoshihiro Minagawa

Abstract: This paper describes that an indoor balloon control system based on PID
controller. Indoor balloon robots have the features of using buoyancy to move three
dimensional movements, moving less energy. For these features, indoor balloon robots have
enormous potential for applications such as an entertainment flight, automatic surveillance.
However, they have difficulties to control because of nonlinear thrust and air resistance. I
aim to the development of the control system that balloon robot might be able to move freely
3D space. The control system is consisted of a motion design and a controller to reach the
target states. The motion design is designed to achieve flight unit because it is difficult to
assign an entire motion of balloon robot. The flight unit is assigned by the target states and
terminal condition. The controller makes use of balloon robot velocity to control balloon
robot itself. The velocity is calculated from the deviation of the target state and the state of
balloon robot itself. I experiment using a benchmark flight, including station-keeping,
rotation and straight-line motion. The experimental results show that the control system is
effective and might be applied to the applications for indoor balloon robot.

研究業績（査読付き学術論文，国際会議講演論文，国内講演論文等）
：
1. Yoshihiro Minagawa, Hidenori Kawamura, Masahito Yamamoto, Toshihiko Takaya and Azuma Ohuchi,
“Learning landing control of indoor blimp robot for autonomous energy recharging”, Proceedings of The
Twelfth International Symposium on Artificial Life and Robotics (AROB 12th ’07), Beppu(Japan), CD-ROM,
(2007).
2. Toshihiko Takaya, Hidenori Kawamura, Yoshihiro Minagawa, Masahito Yamamoto and Azuma Ohuchi, “PID
Landing Orbit Motion Controller for Blimp Robot”, Artificial Life and Robotics, Vol.10, No.2, pp.177-184,
(2006).
3. 皆川良弘, 川村秀憲, 山本雅人, 高谷敏彦, 大内東, “室内飛行船ロボットの自律充電システムの開発”,北海道
情報処理シンポジウム 2005,pp.60-61,(2005).

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