小型マルチロータヘリコプタによる編隊飛行制御の研究

抄録

In this research, we aim to realize collision-free formation flight of small unmanned helicopter. A guidance control system considering collision avoidance of each helicopter is designed by using Model Predictive Control (MPC). In previous study, a constraint of the relative position of the helicopters was considered to MPC for efficient collision avoidance and smooth path generation. In this paper, guidance control system based on MPC proposed in previous study is briefly introduced, and the flight experiment using multiple multi-rotor helicopters is carried out. The results of the flight experiment shows the effectiveness of proposed guidance control system and the constraints of relative position.