论文标题
避免运动障碍的UGV中的控制障碍功能：碰撞锥方法
Control Barrier Functions in UGVs for Kinematic Obstacle Avoidance: A Collision Cone Approach
论文作者
论文摘要
在本文中，我们提出了一种针对无人接地车辆（UGV）的新的控制障碍功能（CBF），以避免与运动学（非零速度）障碍发生碰撞。尽管当前的CBF形式已经成功地保证了与静态障碍物的安全/碰撞避免安全性，但动态案例的扩展已经取得了有限的成功。此外，借助UGV模型，例如Unicycle或自行车，现有CBF的应用在控制方面是保守的，即在某些情况下不可能进行转向/推力控制。从经典的碰撞锥中汲取灵感来避免轨迹规划中的障碍，我们介绍了其新颖的CBF配方，并具有对独轮车和自行车模型安全的理论保证。主要思想是确保障碍物的速度W.R.T.车辆总是指向车辆。因此，我们构建了一个约束，该约束确保速度向量始终避开指向车辆的向量锥。随后通过Pybullet模拟在Turtlebot3和F1tth上验证了这种新控制方法的功效。
In this paper, we propose a new class of Control Barrier Functions (CBFs) for Unmanned Ground Vehicles (UGVs) that help avoid collisions with kinematic (non-zero velocity) obstacles. While the current forms of CBFs have been successful in guaranteeing safety/collision avoidance with static obstacles, extensions for the dynamic case have seen limited success. Moreover, with the UGV models like the unicycle or the bicycle, applications of existing CBFs have been conservative in terms of control, i.e., steering/thrust control has not been possible under certain scenarios. Drawing inspiration from the classical use of collision cones for obstacle avoidance in trajectory planning, we introduce its novel CBF formulation with theoretical guarantees on safety for both the unicycle and bicycle models. The main idea is to ensure that the velocity of the obstacle w.r.t. the vehicle is always pointing away from the vehicle. Accordingly, we construct a constraint that ensures that the velocity vector always avoids a cone of vectors pointing at the vehicle. The efficacy of this new control methodology is later verified by Pybullet simulations on TurtleBot3 and F1Tenth.
