Simultaneous Trajectory Tracking and Obstacle Avoidance of a Quadrotor UAV

Trajectory tracking is an important module in UAV motion planning, which enhances motion safety, but obstacles still threaten UAV. Therefore, the safety assurance of trajectory tracking is an important issue for a quadrotor UAV. Our work designs a lightweight simultaneous trajectory tracking and obstacle avoidance controller, which is developed based on exponential control barrier function. Obstacles are considered as constraints by using exponential control barrier function, and the square of the difference between the nominal control input and the actual control input is used as the objective function to construct a quadratic optimization problem. The advantage of this method is that it saves computing resources and has high real-time performance. Then, numerical simulations verify the effectiveness of the algorithm.