TR2024-055

Practical and Safe Navigation Function Based Motion Planning of UAVs


    •  Sinhmar, H., Greiff, M., Di Cairano, S., ,, "Practical and Safe Navigation Function Based Motion Planning of UAVs", IEEE International Conference on Robotics and Automation (ICRA), May 2024.
      BibTeX TR2024-055 PDF
      • @inproceedings{Sinhmar2024may,
      • author = {Sinhmar, Himani and Greiff, Marcus and Di Cairano, Stefano and }},
      • title = {Practical and Safe Navigation Function Based Motion Planning of UAVs},
      • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      • year = 2024,
      • month = may,
      • url = {https://www.merl.com/publications/TR2024-055}
      • }
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  • Research Areas:

    Control, Dynamical Systems, Robotics

Abstract:

This paper offers a practical method for certifiably safe operations of an unmanned aerial vehicle (UAV) with limited power and computation, useful for real-time operations where the UAV is exposed to significant disturbances in non- convex free space. We propose a motion planning method based on the Explicit Reference Governor (ERG) framework to ensure the safety of a flying quadrotor UAV. From a small set of experiment data and assumptions on modeling errors, a Lyapunov function is synthesized by which an ERG is constructed to modify the UAV set-points. The method can handle polyhedral obstacles and constraints imposed on the maximum thrust of the UAV and its maximum tilt. We demonstrate the approach with extensive simulations and experiments using a Crazyflie 2.1.