An obstacle avoidance and motion planning Command Governor based scheme: The Qball-X4 quadrotor case of study

In this paper we develop an obstacle avoidance control scheme for autonomous vehicles. The strategy is based on Command Governor (CG) ideas that are here extended to take into account non-convex and time-varying constraints arising in path planning obstacle avoidance problems. As one of its main merits, the path planner module of the proposed architecture has the aim to select a finite set of intermediate locations between the initial and final points which are used by the CG unit as intermediate set-points until the prescribed target is reached. Experimental results on the quadrotor Qball-X4 show the effectiveness of the proposed approach.