Brimp control with vision based potential method

Abstract

Recent year, increasing fine showings by robots in several filed. There are research actively, especially autonomous robots which have perceptive senses. Nowadays, autonomous flying robot which can move 3-dimentional space is researched. Flying robots has the advantage that it can operate the area where human or other type robots can not go into because of overhead location or rubble. This paper cover indoor blimp robot. It can keep floating without controlled. Because, it gets buoyancy by filling flotation gases. Therefore, it is able to mobe safty and low energy compared with other flying robot. But indoor blimp robot has some problem such as payload and airstream. And indoor blimp robot can not carry various sensors because low payload ability. And, because this paper focus indoor blimp robot, it can not use GPS, which is most famous positional system. Inertial force and air resistance is greatly affection. Therefore, the time lags occur. So, it is necessary to establish of robust control system to effect of external forces. In this paper, in door blimp robot is navigated by vision-based using potential method and simple image processing algorithm to extract attention area from image.