UAV Obstacle Avoidance Algorithm Based on Model Predictive Control and Control Barrier Functions
Deng Wang, Lingxia Mu, Ban Wang, Qingliang Li, Xianghong Xue · IFAC-PapersOnLine · 2025
An autonomous obstacle avoidance algorithm is designed in this paper based on model predictive control (MPC) and control barrier functions (CBF). The CBF is used as a safety constraint for the MPC. An adaptive dynamic barrier function is designed, enabling the unmanned aerial vehicle (UAV) to adjust its obstacle avoidance trajectory in real time according to the distribution and motion state of the obstacles. Through simulation experiments, the avoidance effects based on the CBF and the traditional Euclidean norm constraints are compared and analyzed. The experimental results show that this algorithm improves the safety and flexibility of obstacle avoidance.