抄録
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, which is considered with collision avoidance. Then, the collision avoidance problem is regarded as a control problem with state restrictions, 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.
