TAILIEUCHUNG - Developed blimp robot based on ultrasonic sensors using possibilities distribution and fuzzy logic

In this paper, we present obstacles avoidance and altitude control algorithms based on fuzzy sets and possibilities distributions to control the blimp’s complexity and main behaviors of the system. | Journal of Automation and Control Engineering, Vol. 1, No. 2, June 2013 Developed Blimp Robot Based On Ultrasonic Sensors Using Possibilities Distribution and Fuzzy Logic Rami Al-Jarrah and Hubert Roth Siegen University/Automatic Control Engineering, Siegen, Germany Email: {, }@ systems has been applied to control the propulsion and steering system [5]. However, the tracking system is never mapped the specified things for airship. The use of solar energy as a renewable source of power for such outdoor blimp is also under consideration for some researches [6]. A few researchers have designed an autonomously controlled indoor blimp and an actionvalue function for motion planning based on the potential field method to evaluate the blimp effectiveness in a simulated environment [7]-[8]. The Neural Network control approach is also used to control the blimp in especial purposes by collecting the sensor data for the environment and implement the multiple rules for the control strategy then the blimp have ability to avoid the obstacles [9]. In fact, it needs more experiments for training data to improve the intelligent control. However, most of these researches do not deal with the sensors behaviors during the navigation. Therefore, we introduce how it is possible to model these drawbacks by the possibility distribution (PD) and fuzzy sets. We design the fuzzy knowledge base experimentally. First, we test the ultrasonic sensor’s behaviors. Second, we study the effect of the blimp's angle view and the distance between the blimp and the detected objects. Then, the fuzzy control takes as input the data provided by the ultrasonic sensors and delivers information for eventual obstacles or information about altitude in respect to blimp’s position. In this paper, through an empirical study, the fuzzy sets approach to control the navigation of blimp robot is explained in details. The approach is not only applicable to the blimp robot, but

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• Journal of Automation and Control Engineering
• Developed blimp robot
• Ultrasonic sensors using possibilities distribution and fuzzy logic
• Possibilities distribution and fuzzy logic
• The blimp’s complexity
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