Collision-free guidance control for multiple small helicopters

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

doi:10.1109/ICRA.2014.6907673

Collision-free guidance control for multiple small helicopters

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5537-5543
Number of pages	7
ISBN (Electronic)	9781479936854, 9781479936854
DOIs	https://doi.org/10.1109/ICRA.2014.6907673
Publication status	Published - 2014 Sept 22
Externally published	Yes
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 2014 May 31 → 2014 Jun 7

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/Territory	China
City	Hong Kong
Period	14/5/31 → 14/6/7

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2014.6907673

Cite this

Aida, Y., Suzuki, S., Fujisawa, Y., Iizuka, K., Kawamura, T., & Ikeda, Y. (2014). Collision-free guidance control for multiple small helicopters. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 5537-5543). Article 6907673 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907673

Collision-free guidance control for multiple small helicopters. / Aida, Yoshihiko; Suzuki, Satoshi; Fujisawa, Yohei et al.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 5537-5543 6907673 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Aida, Y, Suzuki, S, Fujisawa, Y, Iizuka, K, Kawamura, T & Ikeda, Y 2014, Collision-free guidance control for multiple small helicopters. in Proceedings - IEEE International Conference on Robotics and Automation., 6907673, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 5537-5543, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 14/5/31. https://doi.org/10.1109/ICRA.2014.6907673

Aida Y, Suzuki S, Fujisawa Y, Iizuka K, Kawamura T, Ikeda Y. Collision-free guidance control for multiple small helicopters. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2014. p. 5537-5543. 6907673. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2014.6907673

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abstract = "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.",

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Collision-free guidance control for multiple small helicopters

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