複数の制御バリア関数に対する実行可能空間モニタリングと大規模屋内ナビゲーションへの応用
Feasible Space Monitoring for Multiple Control Barrier Functions with application to Large Scale Indoor Navigation
複数の制御バリア関数（CBF）制約下での実行可能入力空間の体積に着目し、その体積がゼロになるのを防ぐ新しいFS-CBFを提案。これによりCBF間の互換性を保証し、大規模屋内ナビゲーションで標準CBF-QPより優れた性能を示した。
著者: Hardik Parwana, Mitchell Black, Bardh Hoxha, Hideki Okamoto, Georgios Fainekos, Danil Prokhorov, Dimitra Panagou
分類: cs.RO, math.OC
原文アブストラクト
Quadratic programs (QP) subject to multiple time-dependent control barrier function (CBF) based constraints have been used to design safety-critical controllers. However, ensuring the existence of a solution at all times to the QP subject to multiple CBF constraints (hereby called compatibility) is non-trivial. We quantify the feasible control input space defined by multiple CBFs at a state in terms of its volume. We then introduce a novel feasible space (FS) CBF that prevents this volume from going to zero. FS-CBF is shown to be a sufficient condition for the compatibility of multiple CBFs. For high-dimensional systems though, finding a valid FS-CBF may be difficult due to the limitations of existing computational hardware or theoretical approaches. In such cases, we show empirically that imposing the feasible space volume as a candidate FS-CBF not only enhances feasibility but also exhibits reduced sensitivity to changes in the user-chosen parameters such as gains of the nominal controller. Finally, paired with a global planner, we evaluate our controller for navigation among other dynamically moving agents in the AWS Hospital gazebo environment. The proposed controller is demonstrated to outperform the standard CBF-QP controller in maintaining feasibility.
