Autonomous swarm flight of small quadrotors using Kullback-Leibler control
| Project/Area Number |
18K13782
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| Research Category |
Grant-in-Aid for Early-Career Scientists
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| Allocation Type | Multi-year Fund |
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| Review Section |
Basic Section 21040:Control and system engineering-related
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| Research Institution | Kansai University |
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Principal Investigator |
Motonaka Kimiko 関西大学, システム理工学部, 准教授 (70781772)
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| Project Period (FY) |
2018-04-01 – 2023-03-31
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| Project Status |
Completed (Fiscal Year 2022)
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| Budget Amount *help |
¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2020: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2019: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2018: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
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| Keywords | 群飛行 / 障害物回避 / 動作計画 / KL制御 |
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| Outline of Final Research Achievements |
The purpose of this study is to realize autonomous swarm flight of multiple quadrotors using Kullback-Leibler control. First, a collision avoidance algorithm, which is essential for autonomous flight of quadrotor swarms, was studied, and a mutual collision avoidance algorithm based on buffered Voronoi cells was implemented. The results of the implementation were verified by simulations, and improvements were made to address new problems that arose. In particular, we proposed methods for dealing with deadlock, moving using only local information obtained by LiDAR, and collision avoidance in 3D space including the height direction based on 3D Voronoi division. In addition, we have set up a facility for actual experiments, and conducted group flight experiments with four quadrotors.
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| Academic Significance and Societal Importance of the Research Achievements |
本研究では，クワッドロータの群飛行時に必須となる衝突回避アルゴリズムの改良と検証を行った．具体的には、BVCを用いた相互衝突回避アルゴリズムを実装・改良し，デッドロックへの対処や，局所情報のみを用いた移動手法を提案し，3次元空間における衝突回避を実現した．これは群飛行の実現を前進させるものであり，学術的に重要である．また，群飛行技術の進展は物流・監視・災害対策などを目的として社会的にも期待されており，その点でこれらの成果は社会的意義も有している．
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Report
(6 results)
Research Products
(31 results)
