Model Reference Control for Collision Avoidance of a Human-Operated Quadrotor Helicopter
Busara Piriyanont*, Naoki Uchiyama**, and Shigenori Sano**
*School of Electrical Engineering and Computer Science, The University of Newcastle, University Drive, Callaghan, NSW 2308, Australia
**Toyohashi University of Technology, Japan, 1-1 Hibarigaoka, Tempaku, Toyohashi, Aichi 441-8580, Japan
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.
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