用复合安全函数保障无人直升机避障，支持上千障碍物复杂环境
Safe Quadrotor Navigation using Composite Control Barrier Functions
- 基于复合控制屏障函数统一处理多位置约束
- 实测在室内外复杂场景中成功避障，即使面对恶意策略也安全
- 计算高效，可扩展至千级障碍物，适合实时飞行系统
本文提出一种安全过滤器，确保多旋翼飞行器的碰撞规避。该方法基于对三阶非线性动力学模型中所有位置约束的单一复合控制屏障函数进行形式化设计。我们分析了复合约束下安全过滤器的递归可行性，证明不可行集可忽略不计。所提方法具备对抗数千个约束的计算可扩展性，适用于包含大量障碍物的复杂场景。实验验证了其在配备机载激光雷达的四旋翼上，对朴素及对抗性原始控制策略均能保证安全性，可在室内外杂乱环境中稳定运行。
原文摘要 · Abstract (English)
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.
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