著者

中川 健人 権 裕煥 本仲 君子 三好 誠司

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.56, no.1, pp.31-36, 2020 (Released:2020-02-01)

参考文献数

12

被引用文献数

1

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In this paper, we assume a situation that multiple quadrotors are flying autonomously in the same space for the purpose of aerial photographing, surveillance, home delivery and so on. In such a situation, an algorithm to avoid mutual collision is needed. D. Zhou et al. proposed an algorithm based on the buffered Voronoi cells (BVC) to reach each target position without mutual collision when the multiple quadrotors fly and confirmed its operation by some simulations. In this research, we verified the performance of the method by numerical simulations using MATLAB. In addition, we confirmed the algorithm by dynamic simulations with four quadrotors using the dynamic simulator V-REP.