Robust Collision-Free Guidance for Multicopters in Airspaces with Numerous Flying Obstacles

Resumo

© 2024 IEEE.This paper proposes a robust guidance for mul-tirotor aerial vehicles with uncertain dynamics and equipped with short-range detection sensors in scenarios with multiple accelerated obstacles and velocity constraints. To handle the uncertain dynamics in the guidance level, the position and velocity admissible sets are tightened according to the respective inner-loop tracking errors. Moreover, a hybrid prescribed-time arbitrary-order differentiator is used to estimate the obstacles' velocities and accelerations using the sensor readings. Based on these estimates, we build a set of possible future positions for the obstacles, and use this set to calculate a robust collision-free position command for the vehicle. The proposed method is experimentally evaluated using a mixed-reality setup composed of a Crazyflie quad copter, motion capture cameras, and virtual obstacles. The results show that the proposed method is viable for real-time implementation and effective in providing collision avoidance and satisfying velocity constraints.

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