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Senior Project – Electrical and Computer Engineering – 2006
Autonomous Navigation
of an Indoor Blimp
Stuart Wehrly
Advisor – Prof. Spinelli
Abstract:
An autonomous navigation system was designed to allow an indoor Blimp to follow a predetermined flight
path. Such Blimps are normally controlled remotely by a human operator. Designing an autonomous
control system was challenging due to the extreme weight restrictions imposed by the small size of the helium
bag. The merits of computer processing using a nearby wireless computer were compared to having all
decision making on the Blimp itself. An accelerometer and a rangefinder were used to keep track of the
position of the Blimp and to detect if it nears or contacts any obstacles.
Goals:
Design Constraints:
•Maintain constant height from floor
•Total weight of components must weigh less
than 7 ounces
•Move from point A to point B
•Autonomous navigation
Achievements:
•Detect obstacles in path
•Maintain constant height from floor by constantly polling
•Calculate position in real time from acceleration
rangefinder and calculating distance from floor.
•Move from point A to point B by calculating position by
integrating acceleration twice. Then power motors until
current position equals destination
Components:
•Parallax Basic Stamp II
•Analog 3-Axis Accelerometer
•5-Volt Regulator
•LM317 Variable Voltage Regulator
•Analog to Digital Converter with 8 to 1 Multiplexer
•LM555 Adjustable Clock
Control System
Basic Stamp II
Blimp Motors
Analog to Digital
Converter
Rangefinder
3-Axis
Accelerometer
Clock