Collision-free guidance control of multiple small UAVs based on distributed model predictive control

In this paper, collision-free guidance control of multiple small unmanned aerial vehicles (SUAVs) is designed. Collision avoidance of the SUAVs should be considered in the control system design for safe operation. Therefore, a guidance control system using a distributed model predictive control (DMP...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Satoshi SUZUKI, Masamitsu SHIBATA, Takashi SASAOKA, Kojiro IIZUKA, Takashi KAWAMURA
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2017
Materias:	suav guidance control collision avoidance distributed model predictive control multi rotor helicopter Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/ec73067f293841448bcb5f324ad56c6a
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:ec73067f293841448bcb5f324ad56c6a
record_format	dspace
spelling	oai:doaj.org-article:ec73067f293841448bcb5f324ad56c6a2021-11-26T07:06:29ZCollision-free guidance control of multiple small UAVs based on distributed model predictive control2187-974510.1299/mej.17-00117https://doaj.org/article/ec73067f293841448bcb5f324ad56c6a2017-06-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/4/4/4_17-00117/_pdf/-char/enhttps://doaj.org/toc/2187-9745In this paper, collision-free guidance control of multiple small unmanned aerial vehicles (SUAVs) is designed. Collision avoidance of the SUAVs should be considered in the control system design for safe operation. Therefore, a guidance control system using a distributed model predictive control (DMPC) is proposed to realize the collision avoidance. A constraint for the relative position vector between the each UAV is considered in the design for efficient avoidance. Small multi-rotor helicopter is considered as controlled object, and the guidance control system is designed by using the translational model of the helicopter. DMPC is designed with three constraints, an input constraint, a state constraint, and a relative position vector constraint. An input constraint and a state constraint realize collision avoidance in input within the constant limits. If the moving path of the one helicopter is significantly affected by the moving path of other helicopter, the relative position vector constraint makes the helicopters exchange their relative position each other. By using these constraints, smooth collision avoidance is realized. The numerical simulation and flight experiment is conducted to verify the effectiveness of designed control system.Satoshi SUZUKIMasamitsu SHIBATATakashi SASAOKAKojiro IIZUKATakashi KAWAMURAThe Japan Society of Mechanical Engineersarticlesuavguidance controlcollision avoidancedistributed model predictive controlmulti rotor helicopterMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 4, Iss 4, Pp 17-00117-17-00117 (2017)
institution	DOAJ
collection	DOAJ
language	EN
topic	suav guidance control collision avoidance distributed model predictive control multi rotor helicopter Mechanical engineering and machinery TJ1-1570
spellingShingle	suav guidance control collision avoidance distributed model predictive control multi rotor helicopter Mechanical engineering and machinery TJ1-1570 Satoshi SUZUKI Masamitsu SHIBATA Takashi SASAOKA Kojiro IIZUKA Takashi KAWAMURA Collision-free guidance control of multiple small UAVs based on distributed model predictive control
description	In this paper, collision-free guidance control of multiple small unmanned aerial vehicles (SUAVs) is designed. Collision avoidance of the SUAVs should be considered in the control system design for safe operation. Therefore, a guidance control system using a distributed model predictive control (DMPC) is proposed to realize the collision avoidance. A constraint for the relative position vector between the each UAV is considered in the design for efficient avoidance. Small multi-rotor helicopter is considered as controlled object, and the guidance control system is designed by using the translational model of the helicopter. DMPC is designed with three constraints, an input constraint, a state constraint, and a relative position vector constraint. An input constraint and a state constraint realize collision avoidance in input within the constant limits. If the moving path of the one helicopter is significantly affected by the moving path of other helicopter, the relative position vector constraint makes the helicopters exchange their relative position each other. By using these constraints, smooth collision avoidance is realized. The numerical simulation and flight experiment is conducted to verify the effectiveness of designed control system.
format	article
author	Satoshi SUZUKI Masamitsu SHIBATA Takashi SASAOKA Kojiro IIZUKA Takashi KAWAMURA
author_facet	Satoshi SUZUKI Masamitsu SHIBATA Takashi SASAOKA Kojiro IIZUKA Takashi KAWAMURA
author_sort	Satoshi SUZUKI
title	Collision-free guidance control of multiple small UAVs based on distributed model predictive control
title_short	Collision-free guidance control of multiple small UAVs based on distributed model predictive control
title_full	Collision-free guidance control of multiple small UAVs based on distributed model predictive control
title_fullStr	Collision-free guidance control of multiple small UAVs based on distributed model predictive control
title_full_unstemmed	Collision-free guidance control of multiple small UAVs based on distributed model predictive control
title_sort	collision-free guidance control of multiple small uavs based on distributed model predictive control
publisher	The Japan Society of Mechanical Engineers
publishDate	2017
url	https://doaj.org/article/ec73067f293841448bcb5f324ad56c6a
work_keys_str_mv	AT satoshisuzuki collisionfreeguidancecontrolofmultiplesmalluavsbasedondistributedmodelpredictivecontrol AT masamitsushibata collisionfreeguidancecontrolofmultiplesmalluavsbasedondistributedmodelpredictivecontrol AT takashisasaoka collisionfreeguidancecontrolofmultiplesmalluavsbasedondistributedmodelpredictivecontrol AT kojiroiizuka collisionfreeguidancecontrolofmultiplesmalluavsbasedondistributedmodelpredictivecontrol AT takashikawamura collisionfreeguidancecontrolofmultiplesmalluavsbasedondistributedmodelpredictivecontrol
_version_	1718409752677974016

Collision-free guidance control of multiple small UAVs based on distributed model predictive control

Ejemplares similares