Hexa-Propeller Airship for Environmental Surveillance and Monitoring in Amazon Rainforest
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Published:2024-03-22
Issue:4
Volume:11
Page:249
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ISSN:2226-4310
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Container-title:Aerospace
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language:en
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Short-container-title:Aerospace
Author:
Azinheira José1ORCID, Carvalho Reginaldo2ORCID, Paiva Ely3ORCID, Cordeiro Rafael4ORCID
Affiliation:
1. Department of Mechanical Engineering, Instituto Superior Técnico (IST), Av. Rovisco Pais 1, 1049-001 Lisboa, Portugal 2. Institute of Computing, Federal University of Amazonas (UFAM), Av. General Rodrigo Octavio Jordão Ramos, 1200-Coroado I, Manaus 69067-005, AM, Brazil 3. School of Mechanical Engineering, University of Campinas (Unicamp), R. Mendeleyev, 200, Campinas 13083-860, SP, Brazil 4. Electrical Engineering Department, Federal University of Espirito Santo (UFES), Av. Fernando Ferrari, 514-Goiabeiras, Vitória 29075-910, ES, Brazil
Abstract
This paper proposes a new kind of airship actuator configuration for surveillance and environmental monitoring missions. We present the design and application of a six-propeller electrical airship (Noamini) with independent tilting propellers, allowing improved and flexible maneuverability. The vehicle has different combinations of differential propulsion and can be used in a two-, four- or six-motor configuration. We developed a high-fidelity airship simulator for the Noamini airship, which was used to test and validate a control/guidance approach. Incremental Nonlinear Dynamic Inversion (INDI) is used for the velocity/attitude control to follow a high-level L1 guidance reference in a simulated waypoint-tracking mission with wind and turbulence. The proposed framework will be soon implemented in the onboard control system of the Noamini, an autonomous airship for environmental monitoring and surveillance applications.
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