Control Barrier Function-Based Quadrotor Interception Control Using Visual Servoing

The rapid expansion of quadrotor technology has given rise to a series of security predicaments, motivating countries to invest in the research and development of quadrotor interception technologies and equipment. However, the existing interception techniques encounter numerous problems, such as high interception costs, low reliability, and unsatisfactory interception results. Consequently, this paper proposes a scheme for intercepting intruder by employing a quadrotor equipped with a fixed monocular camera. Nevertheless, the strong coupling between the fixed camera and the motion of the quadrotor poses a challenge to the design of the interception controller. To address this issue, an image-based visual servo controller with field constraints based on the control barrier function is presented in this paper, achieving the interception of the intruder by controlling the three-dimensional motion of the quadrotor. This method avoids the problem of the quadrotor flying backward due to coupling and ensures that the intruder remains within the field of view, improving the interception effectiveness. Finally, a significant number of simulations and experiments have verified the efficacy of the proposed method.