障害物回避を伴う協調的安全臨界フォーメーション制御
Collaborative Safety-Critical Formation Control with Obstacle Avoidance
複数エージェントのフォーメーション制御において、制御バリア関数に基づく安全フィルタと協調的安全フレームワークを拡張し、障害物回避を実現する手法を提案。木構造通信網での線形時間収束を証明し、シミュレーションで検証した。
著者: Brooks A. Butler, Chi Ho Leung, Philip E. Paré
分類: cs.RO, cs.SY, eess.SY, math.OC
原文アブストラクト
This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control law for a generic distributed formation controller and extend our previously developed collaborative safety framework to an obstacle avoidance problem for agents with acceleration control inputs. We then incorporate multi-obstacle collision avoidance into the collaborative safety framework. This framework includes a method for computing the maximum capability of agents to satisfy their individual safety requirements. We analyze the convergence rate of our collaborative safety algorithm, and prove the linear-time convergence of cooperating agents to a jointly feasible safe action for all agents under the special case of a tree-structured communication network with a single obstacle for each agent. We illustrate the analytical results via simulation on a mass-spring kinematics-based formation controller and demonstrate the finite-time convergence of the collaborative safety algorithm in the simple proven case, the more general case of a fully-connected system with multiple static obstacles, and with dynamic obstacles.
