This paper proposes the combination of a fast motion planner, which generates potentially unfeasible trajectories for the center of mass of an underactuated UAV, with a tracking controller integrating a Control Barrier Function. In this way avoidance of both stationary and moving obstacles is guaranteed even when the UAV deviates from the collision-free trajectory issued by the planner, due to its unfeasibility. Simulations in a dynamic and cluttered environment validate the method.
Combining 3D Planning and Control Barrier Functions for Safe Motion of Quadrotor UAVs Among Obstacles / Cristofaro, A.; Ferro, M.; Galasso, F.; Mizzoni, M.; Pacciarelli, A.; Vendittelli, M.. - (2023), pp. -2450. (Intervento presentato al convegno 2023 9th International Conference on Control, Decision and Information Technologies (CoDIT) tenutosi a Roma) [10.1109/CoDIT58514.2023.10284394].
Combining 3D Planning and Control Barrier Functions for Safe Motion of Quadrotor UAVs Among Obstacles
Cristofaro, A.;Ferro, M.;Galasso, F.;Mizzoni, M.;Pacciarelli, A.;Vendittelli, M.
2023
Abstract
This paper proposes the combination of a fast motion planner, which generates potentially unfeasible trajectories for the center of mass of an underactuated UAV, with a tracking controller integrating a Control Barrier Function. In this way avoidance of both stationary and moving obstacles is guaranteed even when the UAV deviates from the collision-free trajectory issued by the planner, due to its unfeasibility. Simulations in a dynamic and cluttered environment validate the method.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
