用障碍率引导的MPPI控制无人机在安全边界附近更高效地飞行

Model Predictive Path Integral (MPPI) controller is used to solve unconstrained optimal control problems and Control Barrier Function (CBF) is a tool to impose strict inequality constraints, a.k.a, barrier constraints. In this work, we propose an integration of these two methods that employ CBF-like conditions to guide the control sampling procedure of MPPI. CBFs provide an inequality constraint restricting the rate of change of barrier functions by a classK function of the barrier itself. We instead impose the CBF condition as an equality constraint by choosing a parametric linear classK function and treating this parameter as a state in an augmented system. The time derivative of this parameter acts as an additional control input that is designed by MPPI. A cost function is further designed to reignite Nagumo's theorem at the boundary of the safe set by promoting specific values of classK parameter to enforce safety. Our problem formulation results in an MPPI subject to multiple state and control-dependent equality constraints which are non-trivial to satisfy with randomly sampled control inputs. We therefore also introduce state transformations and control projection operations, inspired by the literature on path planning for manifolds, to resolve the aforementioned issue. We show empirically through simulations and experiments on quadrotor that our proposed algorithm exhibits better sampled efficiency and enhanced capability to operate closer to the safe set boundary over vanilla MPPI.