1A2-G04 Guidance Control System Design for Simultaneous Flight of Multiple Small Helicopters(Aerial Robot and Mechatronics (2))
Takahiro M. Ishii, Satoshi Suzuki, Yohei Fujisawa, Nobuya Okada, Kojiro Iizuka, Takashi KAWAMURA · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2013
In this study, we aim at realizing autonomous simultaneous flight of multiple small helicopters. In that situation, collision of helicopters is serious problem, and it should be considered in guidance control of each helicopter. In this paper, we construct a guidance control system for a small helicopter with collision avoidance. Then, a collision avoidance problem is regarded as a control problem with state constraints, and the theory of Model Predictive Control (MPC) is applied to the guidance control. Finally, the effectiveness of the control system designed in this study is verified by the simulation and the flight experiment.