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Safety-Critical Control of a 3D Quadrotor With Range-Limited Sensing

[+] Author Affiliations
Guofan Wu, Koushil Sreenath

Carnegie Mellon University, Pittsburgh, PA

Paper No. DSCC2016-9913, pp. V001T05A006; 11 pages
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5069-5
  • Copyright © 2016 by ASME


Enforcing safety is critical for aerial robotics. In this paper we consider the safety control problem for a 3D quadrotor with limited sensing range subject to avoiding collisions with time-varying obstacles. By using the concepts of Control Lyapunov Functions (CLFs) and Control Barrier functions (CBFs), we propose a control algorithm that explicitly considers the nonlinear and underactuated dynamics of a quadrotor to strictly guarantee time-varying safety-critical constraints. We demonstrate the feasibility of our proposed control design through numerical validation of (a) aerial flight through a region of dense cluttered obstacles, and (b) aerial flight through a dense time-varying obstacle field.

Copyright © 2016 by ASME
Topics: Safety



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