抄録
In this research, we aim to design a guidance control system that considers collision avoidance for multiple unmanned helicopters. In recent years, there is an increasing demand to carry out several missions by using fleet of unmanned helicopters. However, simultaneous flight of multiple helicopters has a risk of collision. Therefore, the guidance control system considering collision avoidance is necessary for operation of multiple helicopters. In such background, we applied Model Predictive Control (MPC) to the guidance control system of multiple helicopters and succeeded in collision-free guidance control. In the guidance control system, a prohibited area is set around the helicopters, and it is introduced in MPC as state constraint condition. Then, it is possible to fly to the destination while avoiding collision with other helicopters. Furthermore, we set the relative position vector constraint to realize efficient avoidance trajectory, the smooth collision avoidance is achieved. In this paper, we explain a guidance control system with collision avoidance. Then, we describe the experimental system constructed for actual machine experiments. Finally, we carry out an actual machine experiment and verify the effectiveness of the proposed guidance control system.
