動的環境における非ホロノミック車両の速度障害物を用いた安全臨界制御
Safety-Critical Control of Nonholonomic Vehicles in Dynamic Environments using Velocity Obstacles
速度障害物の原理に基づく制御バリア関数を設計し、前進速度を保ちながら動的障害物を回避する非ホロノミック車両の安全制御手法を提案した。
著者: Aurora Haraldsen, Martin S. Wiig, Aaron D. Ames, Kristin Y. Pettersen
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
This paper considers collision avoidance for vehicles with first-order nonholonomic constraints maintaining nonzero forward speeds, moving within dynamic environments. We leverage the concept of control barrier functions (CBFs) to synthesize control inputs that prioritize safety, where the safety criteria are derived from the velocity obstacle principle. Existing instantiations of CBFs for collision avoidance, e.g., based on maintaining a minimal distance, can result in control inputs that make the vehicle stop or even reverse. The proposed formulation effectively separates speed control from steering, allowing the vehicle to maintain a forward motion without compromising safety. This is beneficial for ensuring that the vehicle advances towards its desired destination, and it is moreover an underlying requirement for certain vehicles such as marine vessels and fixed-wing UAVs. Theoretical safety guarantees are provided, and numerical simulations demonstrate the efficiency of the strategy in environments containing moving obstacles.
