動的な楕円環境における多角形ロボットの安全安定化制御
Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments
多角形ロボットと楕円形障害物の距離を解析的に計算し、制御バリア関数（CBF）を用いて動的環境での安全なナビゲーションを実現する手法を提案した。
著者: Kehan Long, Khoa Tran, Melvin Leok, Nikolay Atanasov
分類: cs.RO, math.OC
原文アブストラクト
This paper addresses the challenge of safe navigation for rigid-body mobile robots in dynamic environments. We introduce an analytic approach to compute the distance between a polygon and an ellipse, and employ it to construct a control barrier function (CBF) for safe control synthesis. Existing CBF design methods for mobile robot obstacle avoidance usually assume point or circular robots, preventing their applicability to more realistic robot body geometries. Our work enables CBF designs that capture complex robot and obstacle shapes. We demonstrate the effectiveness of our approach in simulations highlighting real-time obstacle avoidance in constrained and dynamic environments for both mobile robots and multi-joint robot arms.
