Safety-Critical Quadrotor Navigation Using Fourth-Order Control Barrier Functions with Full Nonlinear Quadrotor Dynamics
To address this gap, we propose a safety controller based on fourth-order control barrier functions (CBFs) that explicitly incorporates the full nonlinear quadrotor dynamics, including attitude dynamics and torque-level actuation.
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Key points
- Safety-critical quadrotor navigation in cluttered environments typically relies on hierarchical architectures in which a high-level safety filter modifies position references that are then tracked by a separate attitude controller.
- Furthermore, we apply the integral high-order CBF technique to resolve the mixed-relative degree issue in the derived constraint formulation.
- We validate the approaches in both high-fidelity simulation and real-world flight experiments, demonstrating reliable constraint satisfaction and successful obstacle avoidance.
- These results suggest that torque-level high-order CBFs provide a practical pathway to provably safer quadrotor navigation under full rigid-body dynamics.
Sources (1)
- [1]Safety-Critical Quadrotor Navigation Using Fourth-Order Control Barrier Functions with Full Nonlinear Quadrotor DynamicsarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 10, 03:32 AM
To address this gap, we propose a safety controller based on fourth-order control barrier functions (CBFs) that explicitly incorporates the full nonlinear quadrotor dynamics, including attitude dynamics and torque-level actuation.
Safety-critical quadrotor navigation in cluttered environments typically relies on hierarchical architectures in which a high-level safety filter modifies position references that are then tracked by a separate attitude controller.
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