双対性に基づく凸最適化と制御バリア関数による多面体間のリアルタイム障害物回避
Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions
多面体同士の最小距離を双対最適化で表現し、非平滑制御バリア関数として組み込むことで、狭い空間での障害物回避をQPベースでリアルタイムに解く手法を提案した論文。
著者: Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
分類: eess.SY, cs.RO, cs.SY, math.OC
原文アブストラクト
Developing controllers for obstacle avoidance between polytopes is a challenging and necessary problem for navigation in tight spaces. Traditional approaches can only formulate the obstacle avoidance problem as an offline optimization problem. To address these challenges, we propose a duality-based safety-critical optimal control using nonsmooth control barrier functions for obstacle avoidance between polytopes, which can be solved in real-time with a QP-based optimization problem. A dual optimization problem is introduced to represent the minimum distance between polytopes and the Lagrangian function for the dual form is applied to construct a control barrier function. We validate the obstacle avoidance with the proposed dual formulation for L-shaped (sofa-shaped) controlled robot in a corridor environment. We demonstrate real-time tight obstacle avoidance with non-conservative maneuvers on a moving sofa (piano) problem with nonlinear dynamics.
