抄録
In This study, we aim at realizing autonomous simultaneous flight of multiple small helicopters. In such situation, collision avoidance of The helicopters should be considered in guidance control system To improve safety and reliability of The flight system. In This paper, we construct a collision-free guidance control system for multiple small helicopters. The collision avoidance problem is regarded as a control problem with state restrictions, and The Theory of Nonlinear Model Predictive Control (NMPC) is applied To The guidance control system. A simple nonlinear guidance model is used for design of NMPC To reduce The computational cost. A novel position constraint is proposed for optimizing The avoidance Trajectory of each helicopter. The effectiveness of The designed control system and proposed constraints are verified by numerical simulation and flight experiment.
| 元の言語 | English |
|---|---|
| 記事番号 | 6907673 |
| ページ（範囲） | 5537-5543 |
| ページ数 | 7 |
| ジャーナル | Unknown Journal |
| DOI | |
| 出版物ステータス | Published - 2014 9 22 |
| 外部発表 | Yes |
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ASJC Scopus subject areas
- Software
- Artificial Intelligence
- Control and Systems Engineering
- Electrical and Electronic Engineering
これを引用
Collision-free guidance control for multiple small helicopters. / Aida, Yoshihiko; Suzuki, Satoshi; Fujisawa, Yohei; Iizuka, Kojiro; Kawamura, Takashi; Ikeda, Yuichi.
：: Unknown Journal, 22.09.2014, p. 5537-5543.研究成果: Article
}
TY - JOUR
T1 - Collision-free guidance control for multiple small helicopters
AU - Aida, Yoshihiko
AU - Suzuki, Satoshi
AU - Fujisawa, Yohei
AU - Iizuka, Kojiro
AU - Kawamura, Takashi
AU - Ikeda, Yuichi
PY - 2014/9/22
Y1 - 2014/9/22
N2 - In This study, we aim at realizing autonomous simultaneous flight of multiple small helicopters. In such situation, collision avoidance of The helicopters should be considered in guidance control system To improve safety and reliability of The flight system. In This paper, we construct a collision-free guidance control system for multiple small helicopters. The collision avoidance problem is regarded as a control problem with state restrictions, and The Theory of Nonlinear Model Predictive Control (NMPC) is applied To The guidance control system. A simple nonlinear guidance model is used for design of NMPC To reduce The computational cost. A novel position constraint is proposed for optimizing The avoidance Trajectory of each helicopter. The effectiveness of The designed control system and proposed constraints are verified by numerical simulation and flight experiment.
AB - In This study, we aim at realizing autonomous simultaneous flight of multiple small helicopters. In such situation, collision avoidance of The helicopters should be considered in guidance control system To improve safety and reliability of The flight system. In This paper, we construct a collision-free guidance control system for multiple small helicopters. The collision avoidance problem is regarded as a control problem with state restrictions, and The Theory of Nonlinear Model Predictive Control (NMPC) is applied To The guidance control system. A simple nonlinear guidance model is used for design of NMPC To reduce The computational cost. A novel position constraint is proposed for optimizing The avoidance Trajectory of each helicopter. The effectiveness of The designed control system and proposed constraints are verified by numerical simulation and flight experiment.
UR - http://www.scopus.com/inward/record.url?scp=84929190556&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929190556&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907673
DO - 10.1109/ICRA.2014.6907673
M3 - Article
AN - SCOPUS:84929190556
SP - 5537
EP - 5543
JO - Unknown Journal
JF - Unknown Journal
M1 - 6907673
ER -