複合制御バリア関数を用いたクアッドロータの安全ナビゲーション
Safe Quadrotor Navigation using Composite Control Barrier Functions
多数の障害物がある環境でクアッドロータの衝突回避を保証するため、全ての位置制約を単一の複合制御バリア関数にまとめた安全フィルタを提案し、機載LiDARによる屋内・屋外実験で有効性を示した。
著者: Marvin Harms, Martin Jacquet, Kostas Alexis
分類: cs.RO
原文アブストラクト
This paper introduces a safety filter to ensure collision avoidance for multirotor aerial robots. The proposed formalism leverages a single Composite Control Barrier Function from all position constraints acting on a third-order nonlinear representation of the robot's dynamics. We analyze the recursive feasibility of the safety filter under the composite constraint and demonstrate that the infeasible set is negligible. The proposed method allows computational scalability against thousands of constraints and, thus, complex scenes with numerous obstacles. We experimentally demonstrate its ability to guarantee the safety of a quadrotor with an onboard LiDAR, operating in both indoor and outdoor cluttered environments against both naive and adversarial nominal policies.
