レーシングドローンの機上安全保証：制御バリア関数による高速ジオフェンシング
Onboard Safety Guarantees for Racing Drones: High-speed Geofencing with Control Barrier Functions
制御バリア関数を用いて、100km/h超の7インチレーシングドローンに10gのマイコン上でオンライン計算のみによる安全保証を実現し、パイロット入力への滑らかで最小限の補正を加える手法を実装した。
著者: Andrew Singletary, Aiden Swann, Yuxiao Chen, Aaron D. Ames
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
This paper details the theory and implementation behind practically ensuring safety of remotely piloted racing drones. We demonstrate robust and practical safety guarantees on a 7" racing drone at speeds exceeding 100 km/h, utilizing only online computations on a 10 gram micro-controller. To achieve this goal, we utilize the framework of control barrier functions (CBFs) which give guaranteed safety encoded as forward set invariance. To make this methodology practically applicable, we present an implicitly defined CBF which leverages backup controllers to enable gradient-free evaluations that ensure safety. The method applied to hardware results in smooth, minimally conservative alterations of the pilots' desired inputs, enabling them to push the limits of their drone without fear of crashing. Moreover, the method works in conjunction with the preexisting flight controller, resulting in unaltered flight when there are no nearby safety risks. Additional benefits include safety and stability of the drone when losing line-of-sight or in the event of radio failure.
