| Budget Amount *help |
¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2017: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2016: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2015: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
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| Outline of Final Research Achievements |
In this research, we propose a distributed control system for UAVs which draws spatial images by using a UAV as a voxel, and we conducted fundamental research to realize it. In the distributed control system, an individual UAV autonomously decides its action with respect to its surrounding according to the task to be performed.
While this approach realizes flexible operation and provides robustness to a system, problems arise such as collision among UAVs and wind influences from close UAVs. In this research, we proposed a method to append robustness against the wind disturbance from other UAV as well as the improvement of control law of individual UAVs. Moreover wind disturbance suppression method and collision avoidance technique have been implemented to a model predictive control. Through numerical and experimental simulations, the effectiveness of the proposed techniques are verified.
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