Obstacle avoidance-driven controller for safety-critical aerial robots

11/17/2020
by   Johann Lange, et al.
0

The goal of this thesis is to propose the combination of Control-Barrier-Functions (CBF) with Model-Predictive-Control (MPC) resulting in the novel Model-Predictive-Control-Barrier-Function (MPCBF). It can be shown, that the performance of the MPCBF surpasses the performance of the CBF due to the increased time horizon of the MPC. Moreover, the MPCBF was applied to a quadrotor, a system strongly in need of fast and predictive control. Using the MPCBF, the quadrotor was able to avoid obstacles, which the CBF failed to avoid due to the relative speed of the obstacle. The results of this work are experimentally validated.

READ FULL TEXT
research
09/18/2022

Dynamic Control Barrier Function-based Model Predictive Control to Safety-Critical Obstacle-Avoidance of Mobile Robot

This paper presents an efficient and safe method to avoid static and dyn...
research
03/25/2022

Moving Obstacle Avoidance: a Data-Driven Risk-Aware Approach

This paper proposes a new structured method for a moving agent to predic...
research
09/07/2023

Occlusion-Free Image Based Visual Servoing using Probabilistic Control Barrier Certificates

Image-based visual servoing (IBVS) is a widely-used approach in robotics...
research
03/28/2023

Obstacle Avoidance in Dynamic Environments via Tunnel-following MPC with Adaptive Guiding Vector Fields

This paper proposes a motion control scheme for robots operating in a dy...
research
10/30/2020

Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control

The problem of dynamic locomotion over rough terrain requires both accur...
research
02/24/2021

Contingency Model Predictive Control for Linear Time-Varying Systems

We present Contingency Model Predictive Control (CMPC), a motion plannin...
research
07/26/2022

Safe Model Predictive Control Approach for Non-holonomic Mobile Robots

We design an MPC approach for non-holonomic mobile robots and analytical...

Please sign up or login with your details

Forgot password? Click here to reset