학술논문
Combining 3D Planning and Control Barrier Functions for Safe Motion of Quadrotor UAVs Among Obstacles
Document Type
Conference
Source
2023 9th International Conference on Control, Decision and Information Technologies (CoDIT) Control, Decision and Information Technologies (CoDIT), 2023 9th International Conference on. :2445-2450 Jul, 2023
Subject
Language
ISSN
2576-3555
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.