1. Chemnitz University of Technology Institute for AutomationThomas Krause Controller for areal robot blimp Controller for aerial robot blimp PASSAROLLA is learning to fly Institute of Systems and Robotics

2. Chemnitz University of Technology Institute for AutomationThomas Krause The Target - driver for the blimp - high level controller on position level - robust against wind and other dynamics - modular structure for easy use and change

3. Chemnitz University of Technology Institute for AutomationThomas Krause Robot Structure Blimp with remote control Video camera as only sensor Video link Ground station

4. Chemnitz University of Technology Institute for AutomationThomas Krause PASSAROLLA  Nonholonomic robot  Three possible movements Y and Z direction: Rotation around Z-Achsis: =

5. Chemnitz University of Technology Institute for AutomationThomas Krause Vision OPTICAL FLOW OPTICAL FLOW as basic Two matrixes of the flow in horizental an vertical direction Using a planar model for the picture ==

6. Chemnitz University of Technology Institute for AutomationThomas Krause Main structure of control

7. Chemnitz University of Technology Institute for AutomationThomas Krause Low Level Control forward/backward control Model 1: Model 2:

8. Chemnitz University of Technology Institute for AutomationThomas Krause Direction Control

9. Chemnitz University of Technology Institute for AutomationThomas Krause Position Control

10. Chemnitz University of Technology Institute for AutomationThomas Krause All Together

11. Chemnitz University of Technology Institute for AutomationThomas Krause Results  Motion library for an aerial robot blimp  Dynamic against wind  Very flexibel and easy to adapt to changes

12. Chemnitz University of Technology Institute for AutomationThomas Krause Further Work  Make vision more stabil and robust  Fitting more features out of vision  Advance position control with more levels like path following  Testing the controller for more situations