DYNAMICS AND CONTROL OF A HERD OF SONDES GUIDED BY A BLIMP ON TITAN

This paper describes the model and the algorithm developed for an aerobot blimp guiding and controlling a herd of sondes on the surface of Titan. The paper summarizes the derivation of the equations of motion used in simulations, and the features of the simulation model. A potential field controller is used for autonomous guidance and navigation around terrain features on the surface, and hazard avoidance. The results of simulation studies demonstrate that the method used for control is feasible even if significant uncertainty exists in the dynamics and environmental models, and that the control method provides the autonomy needed to enable surface science data collection