制御バリア関数を用いたマルチロータ向け組み込み安全反応ナビゲーション
Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions
オンボードの距離センサのみから複合制御バリア関数を構成し、PX4オートパイロットに統合した安全フィルタで、未知環境でのドローン衝突回避を実現した。
著者: Nazar Misyats, Marvin Harms, Morten Nissov, Martin Jacquet, Kostas Alexis
分類: cs.RO
原文アブストラクト
Aiming to promote the wide adoption of safety filters for autonomous aerial robots, this paper presents a safe control architecture designed for seamless integration into widely used open-source autopilots. Departing from methods that require consistent localization and mapping, we formalize the obstacle avoidance problem as a composite control barrier function constructed only from the online onboard range measurements. The proposed framework acts as a safety filter, modifying the acceleration references derived by the nominal position/velocity control loops, and is integrated into the PX4 autopilot stack. Experimental studies using a small multirotor aerial robot demonstrate the effectiveness and performance of the solution within dynamic maneuvering and unknown environments.
