Monitoring using Dirigibles Public
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In this project report, a system for converting an RC blimp for autonomous operation is proposed. The intended application of the autonomous blimp is indoor surveillance, which blimps are particularly well-suited for. Their low weight allows for the use of low thrust, electric motors that reduce the power and complexity of the system. To modify a blimp to be operated autonomously computer vision and inertial sensing are used for localization to allow the blimp track its location and orientation in space. The sensing systems are used in conjunction with an extended Kalman filter (EKF) and a sensor fusion algorithm to improve the accuracy of the localization process. A Linear-Quadratic Regulator controller is then used to create motor commands and allow the blimp to follow a designated path.
- This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.
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