论文标题
赛车无人机的机载安全保证：具有控制障碍功能的高速地理围栏
Onboard Safety Guarantees for Racing Drones: High-speed Geofencing with Control Barrier Functions
论文作者
论文摘要
本文详细介绍了实际上确保遥控赛车无人机的安全性背后的理论和实施。我们在7英寸的赛车无人机上以超过100 km/h的速度证明了可靠和实践安全的保证为了确保对硬件的安全性，可以使飞行员所需的投入的平滑，最小的保守性更改，使他们能够将无人机的限制推向，而无需撞车时，该方法的范围却不属于稳定。视线或无线电故障。
This paper details the theory and implementation behind practically ensuring safety of remotely piloted racing drones. We demonstrate robust and practical safety guarantees on a 7" racing drone at speeds exceeding 100 km/h, utilizing only online computations on a 10 gram micro-controller. To achieve this goal, we utilize the framework of control barrier functions (CBFs) which give guaranteed safety encoded as forward set invariance. To make this methodology practically applicable, we present an implicitly defined CBF which leverages backup controllers to enable gradient-free evaluations that ensure safety. The method applied to hardware results in smooth, minimally conservative alterations of the pilots' desired inputs, enabling them to push the limits of their drone without fear of crashing. Moreover, the method works in conjunction with the preexisting flight controller, resulting in unaltered flight when there are no nearby safety risks. Additional benefits include safety and stability of the drone when losing line-of-sight or in the event of radio failure.
