Flying in narrow spaces: prioritizing safety with disturbance-aware control
Safe and autonomous flight of quadrotors in enclosed environments still remains formidable challenge due to the aerodynamic proximity effect and restricted free space. This letter develops an integrated planning and control architecture for disturbance-aware and safety control of quadrotors. By expl...
| Main Authors: | , , , , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/179256 |
| _version_ | 1826119549695557632 |
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| author | Fan, Dadong Liu, Qianyuan Zhao, Chenlong Guo, Kexin Yang, Ziqi Yu, Xiang Guo, Lei |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Fan, Dadong Liu, Qianyuan Zhao, Chenlong Guo, Kexin Yang, Ziqi Yu, Xiang Guo, Lei |
| author_sort | Fan, Dadong |
| collection | NTU |
| description | Safe and autonomous flight of quadrotors in enclosed environments still remains formidable challenge due to the aerodynamic proximity effect and restricted free space. This letter develops an integrated planning and control architecture for disturbance-aware and safety control of quadrotors. By explicitly considering ground effect in both the controller and obstacle avoidance constraints, the proposed method can fully leverage the benefits brought by aerodynamic disturbance. Specifically, a Ground Effect Observer (GEO) is designed to estimate repulsive force based on the ground effect model. Subsequently, building upon the augmented quadrotor model, a Nonlinear Model Predictive Controller (NMPC) is developed to enhance tracking performance while conserving energy during flight. Moreover, aided by the Exponential Control Barrier Functions (ECBFs), the distance-based safety constraints can be mapped onto the constraints of control inputs. This facilitates the consideration of disturbance on safety constraints, allowing quadrotors to avoid obstacles promptly. Experimental evaluation employs two types of tunnels to assess the applicability of the proposed scheme. Comparative results show that the proposed scheme outperforms several popular methods in safety and reliability. |
| first_indexed | 2024-10-01T05:02:12Z |
| format | Journal Article |
| id | ntu-10356/179256 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:02:12Z |
| publishDate | 2024 |
| record_format | dspace |
| spelling | ntu-10356/1792562024-07-23T06:56:18Z Flying in narrow spaces: prioritizing safety with disturbance-aware control Fan, Dadong Liu, Qianyuan Zhao, Chenlong Guo, Kexin Yang, Ziqi Yu, Xiang Guo, Lei School of Electrical and Electronic Engineering Engineering Ground effect estimation Control barrier function Safe and autonomous flight of quadrotors in enclosed environments still remains formidable challenge due to the aerodynamic proximity effect and restricted free space. This letter develops an integrated planning and control architecture for disturbance-aware and safety control of quadrotors. By explicitly considering ground effect in both the controller and obstacle avoidance constraints, the proposed method can fully leverage the benefits brought by aerodynamic disturbance. Specifically, a Ground Effect Observer (GEO) is designed to estimate repulsive force based on the ground effect model. Subsequently, building upon the augmented quadrotor model, a Nonlinear Model Predictive Controller (NMPC) is developed to enhance tracking performance while conserving energy during flight. Moreover, aided by the Exponential Control Barrier Functions (ECBFs), the distance-based safety constraints can be mapped onto the constraints of control inputs. This facilitates the consideration of disturbance on safety constraints, allowing quadrotors to avoid obstacles promptly. Experimental evaluation employs two types of tunnels to assess the applicability of the proposed scheme. Comparative results show that the proposed scheme outperforms several popular methods in safety and reliability. This work was supported in part by the National Key R&D Program of China under Grant 2022YFB4701300, in part by Defense Industrial Technology Development Program under Grant JCKY2021601B016, in part by the National Natural Science Foundation of China under Grant 62273023 and Grant 62203033, in part by Zhejiang Provincial Natural Science Foundation under Grant LQ23F030020, in part by the Equipment Pre-research Key Laboratory Foundation of China under Grant JSY6142219202210, in part by Beijing Nova Program under Grant 20230484266, and in part by the Major Science and Technology Innovation Program of Hangzhou under Grant 2022AIZD0137. 2024-07-23T06:56:18Z 2024-07-23T06:56:18Z 2024 Journal Article Fan, D., Liu, Q., Zhao, C., Guo, K., Yang, Z., Yu, X. & Guo, L. (2024). Flying in narrow spaces: prioritizing safety with disturbance-aware control. IEEE Robotics and Automation Letters, 9(7), 6328-6335. https://dx.doi.org/10.1109/LRA.2024.3401127 2377-3766 https://hdl.handle.net/10356/179256 10.1109/LRA.2024.3401127 2-s2.0-85193277557 7 9 6328 6335 en IEEE Robotics and Automation Letters © 2024 IEEE. All rights reserved. |
| spellingShingle | Engineering Ground effect estimation Control barrier function Fan, Dadong Liu, Qianyuan Zhao, Chenlong Guo, Kexin Yang, Ziqi Yu, Xiang Guo, Lei Flying in narrow spaces: prioritizing safety with disturbance-aware control |
| title | Flying in narrow spaces: prioritizing safety with disturbance-aware control |
| title_full | Flying in narrow spaces: prioritizing safety with disturbance-aware control |
| title_fullStr | Flying in narrow spaces: prioritizing safety with disturbance-aware control |
| title_full_unstemmed | Flying in narrow spaces: prioritizing safety with disturbance-aware control |
| title_short | Flying in narrow spaces: prioritizing safety with disturbance-aware control |
| title_sort | flying in narrow spaces prioritizing safety with disturbance aware control |
| topic | Engineering Ground effect estimation Control barrier function |
| url | https://hdl.handle.net/10356/179256 |
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