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2023, 2023 9th International Conference on Control, Decision and Information Technologies (CoDIT), Pages -2450

Combining 3D Planning and Control Barrier Functions for Safe Motion of Quadrotor UAVs Among Obstacles (04b Atto di convegno in volume)

Cristofaro A., Ferro M., Galasso F., Mizzoni M., Pacciarelli A., Vendittelli M.

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.
ISBN: 979-8-3503-1140-2
Gruppo di ricerca: Robotics
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