A210 高精度編隊飛行に向けた小型無人ヘリコプタの誘導制御系の構築(OS11 自律知能無人ビークルの運動と制御2)

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  • A210 Construction of guidance control system for high precision formation flight of small unmanned helicopter

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In this study, we aim at realizing autonomous formation flight of multiple small unmanned 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 our previous study, collision-free guidance control system has been designed by using Model Predictive Control (MPC). Trajectory generation considering collision avoidance has been realized by MPC. However, tracking performance has not been considered, and it is necessary for precise formation flight. In this paper, Differencial Flatness based tracking controller is designed to improve the tracking performance. Then, MPC and Differencial Flatness based guidance control system is proposed for precise formation flight of multiple small unmanned helicopter. Finally, numerical simulation is carried out to verify the effectiveness of proposed guidance control system.

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