Robust Collision Avoidance via Sliding Control

摘要

Recent advances in perception and planning algorithms have enabled robots to navigate autonomously through unknown, cluttered environments at high-speeds. A key component of these systems is the ability to identify, select, and execute a safe trajectory around obstacles. Many of these systems, however, lack performance guarantees because model uncertainty and external disturbances are ignored when a trajectory is selected for execution. This work leverages results from nonlinear control theory to establish a bound on tracking performance that can be used to select a provably safe trajectory. The Composite Adaptive Sliding Controller (CASC) provides robustness to disturbances and reduces model uncertainty through high-rate parameter estimation. CASC is demonstrated in simulation and hardware to significantly improve the performance of a quadrotor navigating through unknown environments with external disturbances and unknown model parameters.