Combining 3D Planning and Control Barrier Functions for Safe Motion of Quadrotor UAVs Among Obstacles

This paper proposes the combination of a fast motion planner, which generates potentially unfeasible trajectories for the center of mass of an underactuated UAV, with a tracking controller integrating a Control Barrier Function. In this way avoidance of both stationary and moving obstacles is guaranteed even when the UAV deviates from the collision-free trajectory issued by the planner, due to its unfeasibility. Simulations in a dynamic and cluttered environment validate the method.