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Trust your supervisor: quadrotor obstacle avoidance using controlled invariant sets
Supervision of a nominal controller, to enforce safety, is concerned with appropriately modifying the generated control inputs, if needed, in order to keep a control system within a set of safe states. An integral component in supervision is a controlled invariant set contained in the set of safe st...
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Main Authors: | , , |
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Format: | Conference Proceeding |
Language: | English |
Subjects: | |
Online Access: | Request full text |
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Summary: | Supervision of a nominal controller, to enforce safety, is concerned with appropriately modifying the generated control inputs, if needed, in order to keep a control system within a set of safe states. An integral component in supervision is a controlled invariant set contained in the set of safe states. In this paper, we build on recent results on the computation of polytopic controlled invariant sets to present a supervision framework that computes the corrected inputs analytically and, hence, suitable for real-time control. The framework is validated on the task of quadrotor obstacle avoidance by forcing the vehicle to navigate within controlled invariant sets of the obstacle-free space. The results are experimentally demonstrated on a Crazyflie 2.0 quadrotor. |
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ISSN: | 2153-0866 |
DOI: | 10.1109/IROS51168.2021.9636485 |