Safe Teleoperation of Dynamic UAVs Through Control Barrier Functions
Safe Teleoperation of Dynamic UAVs Through Control Barrier Functions
复制标题
通过控制屏障功能对动态无人机进行安全远程操作
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
K. Sreenath
中科院分区：
文献类型：
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作者：
B. Xu;K. Sreenath
本文提出了一种方法，以协助人类操作员遥操作高度动态系统，如四旋翼内的约束环境的安全保证。我们的方法使人类操作员能够专注于手动操作和飞行四旋翼系统，而无需专注于避免潜在的障碍物。这是通过所提出的监督控制器在必要时覆盖人类输入以强制执行安全约束来实现的。这种方法可以用作新手飞行员开始飞行四旋翼而不使其坠毁的辅助训练解决方案。我们的监督控制器使用基于二次规划的指数控制障碍函数来实现安全的人类遥控飞行。我们展示和验证我们的控制方法，通过几个实验，多个用户不同的技能水平为三个不同的情况下飞行的四旋翼飞行的运动捕捉环境中的虚拟和物理约束。
This paper presents a method for assisting human operators to teleoperate highly dynamic systems such as quadrotors inside a constrained environment with safety guarantees. Our method enables human operators to focus on manually operating and flying quadrotor systems without the need to focus on avoiding potential obstacles. This is achieved with the presented supervisory controller overriding human input to enforce safety constraints when necessary. This method can be used as an assistive training solution for novice pilots to begin flying quadrotors without crashing them. Our supervisory controller uses an Exponential control barrier function based quadratic program to achieve safe human teleoperated flight. We demonstrate and validate our control approach through several experiments with multiple users with varying skill levels for three different scenarios of a quadrotor flying in a motion capture environment with virtual and physical constraints.