P-norm Smooth Control Barrier Function for UAV Navigation in Clutter Environment
Kunrui Ze, Jiajun Shen, Wei Wang, Zhen Xue Han · 2023
In this paper, a P-norm Smooth Control Barrier Function (PSCBF) based method is proposed to achieve target tracking for unmanned aerial vehicle (UAV) in clutter environment. Different from relative results in which the CBF is designed as the minimum of several functions, the proposed PSCBF is smooth and differentiable to avoid the existence of singularity and ensures the safety of UAV. The control performance of the proposed method and the Artificial Potential Fields (APFs) based method are compared in the context of obstacle avoidance on simple illustrative examples. Both simulation and experiment results are given to verify the effectiveness of the proposed method.