制御バリア関数による未知環境でのエネルギー充足性の保証
Energy Sufficiency in Unknown Environments via Control Barrier Functions
任意の経路計画の上に適用できる制御バリア関数ベースの層を提案し、未知環境でもロボットがエネルギー切れを起こさないことを保証する。
著者: Hassan Fouad, Vivek Shankar Varadharajan, Giovanni Beltrame
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Maintaining energy sufficiency of a battery-powered robot system is a essential for long-term missions. This capability should be flexible enough to deal with different types of environment and a wide range of missions, while constantly guaranteeing that the robot does not run out of energy. In this work we present a framework based on Control Barrier Functions (CBFs) that provides an energy sufficiency layer that can be applied on top of any path planner and provides guarantees on the robot's energy consumption during mission execution. In practice, we smooth the output of a generic path planner using double sigmoid functions and then use CBFs to ensure energy sufficiency along the smoothed path, for robots described by single integrator and unicycle kinematics. We present results using a physics-based robot simulator, as well as with real robots with a full localization and mapping stack to show the validity of our approach.
