@inproceedings{oai:jaxa.repo.nii.ac.jp:00005434,
 author = {稲田, 喜信 and 時田, 拓朗 and 二上, 将直 and 堀江, 数馬 and 高信, 英明 and Inada, Yoshinobu and Tokita, Hiroaki and Futakami, Masanao and Horie, Kazuma and Takanobu, Hideaki},
 book = {宇宙航空研究開発機構特別資料: 第40回流体力学講演会/航空宇宙数値シミュレーション技術シンポジウム2008論文集, JAXA Special Publication: Proceedings fo 40th Fluid Dynamics Conference / Aerospace Numerical Simulation Symposium 2008},
 month = {Feb},
 note = {第40回流体力学講演会/航空宇宙数値シミュレーション技術シンポジウム2008. 会期: 2008年6月12日-6月13日. 会場: 東北大学片平キャンパス, Unmanned air vehicle (UAV) is a probable tool for disaster monitoring or meteorological observation, etc. This study focuses on the formation flight control of multiple micro air vehicles (MAV) as a kind of UAV operation, and proposes a simple rule-based control model by referring to the collective motion of organisms. Some kinds of organisms, such as bird or fish, make an aggregation for achieving high protection and foraging abilities. Their collective motion is realized by simple interaction rules among individuals, such as "approach", "parallel orientation", and "repulsion" rules. Referring to these simple rules, MAV formation flight control model is developed, where each MAV has a reaction field around it and choose one of the motions from "approach", "parallel orientation", "repulsion", and "search" according to the position of its neighbors in the reaction field. Three dimensional equation of motion is incorporated to describe the motion of MAV. As a result, formation flight with numbers of MAVs is realized and various motion controls are examined by altering mutual interaction parameters. In moving direction control, part of controlled-members in a formation can navigate non-controlled remainders. In 3-dimensional shape control, the shape of interaction field has a strong correlation with the shape of formation, providing a simple and effective method for controlling the formation shape. Thus, the applicability of simple rule-based control for MAV formation flight is demonstrated., 形態: カラー図版あり, 資料番号: AA0064303032, レポート番号: JAXA-SP-08-009},
 publisher = {宇宙航空研究開発機構, Japan Aerospace Exploration Agency (JAXA)},
 title = {生物の群運動を規範とした飛翔体の群制御シミュレーション},
 volume = {JAXA-SP-08-009},
 year = {2009}
}