Azinheira, J.; Carvalho, R.; Paiva, E.; Cordeiro, R. Hexa-Propeller Airship for Environmental Surveillance and Monitoring in Amazon Rainforest. Aerospace2024, 11, 249.
Azinheira, J.; Carvalho, R.; Paiva, E.; Cordeiro, R. Hexa-Propeller Airship for Environmental Surveillance and Monitoring in Amazon Rainforest. Aerospace 2024, 11, 249.
Azinheira, J.; Carvalho, R.; Paiva, E.; Cordeiro, R. Hexa-Propeller Airship for Environmental Surveillance and Monitoring in Amazon Rainforest. Aerospace2024, 11, 249.
Azinheira, J.; Carvalho, R.; Paiva, E.; Cordeiro, R. Hexa-Propeller Airship for Environmental Surveillance and Monitoring in Amazon Rainforest. Aerospace 2024, 11, 249.
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 6-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 2, 4 or 6 motors 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.
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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