%0 Journal Article
%T Computer Vision-based Navigation and Predefined Track Following Control of a Small Robotic Airship<br>无人飞艇的基于计算机视觉导航和预设航线跟踪控制
%A XIE Shao-Rong
%A LUO Jun
%A RAO Jin-Jun
%A GONG Zhen-Bang
%A <br>谢少荣
%A 罗均
%A 饶进军
%A 龚振邦
%J 自动化学报
%D 2007
%I 
%X For small robotic airships,it is required that the airship should be capable of following a predefined track.In this paper, computer vision-based navigation and optimal fuzzy control strategies for the robotic airship are proposed.Firstly,visual navigation based on natural landmarks of the environment is introduced.For example,when the airship is flying over a city,buildings can be used as visual beacons whose geometrical properties are known from the digital map or a geographical information system (GIS). Then a geometrical methodology is adopted to extract information about the orientation and position of the airship.In order to keep the airship on a predefined track,a fuzzy flight control system is designed,Which uses those data as its input.And genetic algorithms(GAs),a general-purpose global optimization method,are utilized to optimize the membership functions of the fuzzy controller.Finally,the navigation and Control strategies are validated.
%K Visual navigation
%K flight control
%K predefined track following
%K robotic airship<br>自动化系统
%K 飞行系统
%K 智能机器人
%K 宇宙飞船
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=9B5C47FB59C4D52F&yid=A732AF04DDA03BB3&vid=27746BCEEE58E9DC&iid=38B194292C032A66&sid=11CEECA6DA9E4AC5&eid=6490F0E20C4B41AD&journal_id=0254-4156&journal_name=自动化学报&referenced_num=1&reference_num=12