Model Reference Control for Collision Avoidance of a Human-Operated Quadrotor Helicopter

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 contro...

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Bibliographic Details
Published in:Journal of advanced computational intelligence and intelligent informatics 2011-07, Vol.15 (5), p.617-623
Main Authors: Piriyanont, Busara, Uchiyama, Naoki, Sano, Shigenori
Format: Article
Language:English
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Summary: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.
ISSN:1343-0130
1883-8014
DOI:10.20965/jaciii.2011.p0617