- Title
- Model reference control for collision avoidance of a human-operated quadrotor helicopter
- Creator
- Piriyanont, Busara; Uchiyama, Naoki; Sano, Shigenori
- Relation
- Journal of Advanced Computational Intelligence and Intelligent Informatics Vol. 15, Issue 5, p. 617-623
- Relation
- http://www.fujipress.jp/finder/xslt.php?mode=present&inputfile=JACII001500050015.xml
- Publisher
- Fuji Technology Press Ltd.
- Resource Type
- journal article
- Date
- 2011
- Description
- Because quadrotor helicopter has four fixed-pitch rotors, its control system can be much simpler than that of conventional helicopters; thus, it is expected to find wide application in many remote control situations, such as in hazardous environments. This paper proposes a collision avoidance control for a quadrotor helicopter based on the concept of a social force model. The proposed control incorporates commands given from human operators and compensates for operator mistakes in real time to achieve collision avoidance of a quadrotor helicopter. The proposed method uses distance sensors to achieve real-time collision avoidance. Its effectiveness is shown by experimental results, in which the algorithm successfully drives the helicopter along the desired trajectory without a collision.
- Subject
- quadrotor helicopter; collision avoidance; social force model; model reference control
- Identifier
- http://hdl.handle.net/1959.13/1064364
- Identifier
- uon:17532
- Identifier
- ISSN:1343-0130
- Language
- eng
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