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Wind-based navigation of a hot-air balloon on Titan : a feasibility study

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dc.contributor.author Furfaro, Roberto
dc.contributor.author Lunine, Jonathan I.
dc.contributor.author Elfes, Alberto
dc.contributor.author Reh, Kim
dc.date.accessioned 2009-10-15T15:10:50Z
dc.date.available 2009-10-15T15:10:50Z
dc.date.issued 2008-05-24
dc.identifier.citation SPIE Conference, Orlando, Florida, May 24, 2008 en_US
dc.identifier.clearanceno 08-0695
dc.identifier.uri http://hdl.handle.net/2014/41419
dc.description.abstract Current analysis of data streamed back to Earth by the Cassini spacecraft features Titan as one of the most exciting places in the solar system. NASA centers and universities around the US, as well as the European Space Agency, are studying the possibility of sending, as part of the next mission to this giant moon of Saturn, a hot-air balloon (Montgolfier-type) for further and more in-depth exploration. The basic idea would be to design a reliable, semi-autonomous, and yet cheap Montgolfier capable of using continuous flow of waste heat from a power source to lift the balloon and sustain its altitude in the Titan environment. In this paper we study the problem of locally navigating a hot-air balloon in the nitrogen-based Titan atmosphere. The basic idea is to define a strategy (i.e. design of a suitable guidance system) that allows autonomous and semi-autonomous navigation of the balloon using the available (and partial) knowledge of the wind structure blowing on the saturnian satellite surface. Starting from first principles we determined the appropriate thermal and dynamical models describing (a) the vertical dynamics of the balloon and (b) the dynamics of the balloon moving on a vertical plane (2-D motion). Next, various non-linear fuzzy-based control strategies have been evaluated, analyzed and implemented in MATLAB to numerically simulate the capability of the system to simultaneously maintain altitude, as well as a scientifically desirable trajectory. We also looked at the ability of the balloon to perform station keeping. The results of the simulation are encouraging and show the effectiveness of such a system to cheaply and effectively perform semiautonomous exploration of Titan. en_US
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US en_US
dc.publisher Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2008. en_US
dc.subject Cassini en_US
dc.subject Titan en_US
dc.subject hot air balloons en_US
dc.subject autonomous exploration
dc.subject balloon dynamics
dc.subject fuzzy controller
dc.title Wind-based navigation of a hot-air balloon on Titan : a feasibility study en_US
dc.type Preprint en_US


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