用机载测距实现多旋翼安全避障，无需地图定位
Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions
- 仅依赖机载实时测距构建复合控制屏障函数
- 在动态未知环境中成功完成高机动飞行实验
- 可无缝集成至PX4开源飞控系统，适合工程落地
为推动安全滤波器在自主飞行机器人中的广泛应用，本文提出一种安全控制架构，可无缝集成至广泛使用的开源飞控系统。不同于需要一致定位与建图的方法，本研究将避障问题形式化为仅基于在线机载测距数据构建的复合控制屏障函数。所提框架作为安全滤波器，修改由名义位置/速度控制回路生成的加速度参考指令，并集成至PX4飞控栈中。利用小型多旋翼飞行器的实验研究表明，该方案在动态机动和未知环境下的有效性与性能。
原文摘要 · Abstract (English)
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.
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