Similar to the Control Lyapunov Functions (CLFs), whose objective is to achieve the stability of a system, Control Barrier Functions (CBFs) aim to achieve the safety of a system. They serve as a safety filter that guarantees that the system remains in a defined safety region. This article aims at presenting an introductory overview of the theoretical framework of CBFs and of their application. For doing this, we apply the CBFs framework as a safety filter for obstacle avoidance in the XY movement of a multirotor. The safety filter is designed using two different multirotor models, a single integrator model without considering the inertia of the system and a first-order model that captures the dynamics of a velocity control loop. The proposed safety framework is validated with simulations in Matlab and experiments with indoor flights. The results show the importance of correctly modeling the system.
Control Barrier Functions in Multirotors: A Safety Filter for Obstacle Avoidance
Lect. Notes in Networks, Syst.
Iberian Robotics conference ; 2023 ; Coimbra, Portugal November 22, 2023 - November 24, 2023
27.04.2024
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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