Collision-free guidance control for multiple small helicopters

Yoshihiko Aida, Satoshi Suzuki, Yohei Fujisawa, Kojiro Iizuka, Takashi Kawamura, Yuichi Ikeda

研究成果: Article査読

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.

本文言語English
論文番号6907673
ページ(範囲)5537-5543
ページ数7
ジャーナルUnknown Journal
DOI
出版ステータスPublished - 2014 9 22
外部発表はい

ASJC Scopus subject areas

  • ソフトウェア
  • 人工知能
  • 制御およびシステム工学
  • 電子工学および電気工学

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