A Hybrid Command Governor Scheme for Rotary Wings Unmanned Aerial Vehicles
Walter Lúcia, Giuseppe Franzè, Mario Sznaier · IEEE Transactions on Control Systems Technology · 2018
In this paper, we develop an obstacle avoidance control scheme for autonomous aerial vehicles. The strategy is based on command governor (CG) ideas that are here extended to take into account nonconvex constraints typically arising in path planning obstacle avoidance problems. As one of its main merits, the collision avoidance task is accomplished by exploiting convex inner approximations of the obstacle-free region and an ad hoc constraints switching procedure which significantly reduces the online computations pertaining to the CG design. Experimental results on the quadrotor Qball-X4 show the applicability and effectiveness of the proposed approach.