Safe flight control, including obstacle avoidance and accurate trajectory tracking in the presence of model uncertainties such as external disturbances, mainly aerodynamic effects, is one of the most critical requirements for autonomous quadrotors. Recently, the development of Control Barrier Function (CBF) technology has provided a solid theoretical foundation for ensuring the safety of robotic systems. In this letter, we propose an Adaptive CBF model predictive control (MPC)based framework to achieve safe obstacle avoidance and accurate trajectory tracking during quadrotors flight. A novel model predictive control method combined with relaxed adaptive Control Barrier Functions is proposed for maneuvering quadrotors during flight. We validated the effectiveness of the proposed framework in ensuring safe obstacle avoidance and guaranteeing trajectory tracking accuracy through both simulations and realworld experiments.
Adaptive CBF-MPC for Safety Flight Control of Quadrotors
16.05.2025
8655690 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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