遮蔽環境下での追跡回避問題における視界と安全バリア関数を用いた制御戦略
Control Strategies for Pursuit-Evasion Under Occlusion Using Visibility and Safety Barrier Functions
移動する追跡者が遮蔽物があっても逃走者を視界内に捉え続けるため、視界と障害物回避を制御バリア関数で制約し、サンプリングベース計画と凸最適化で追従する手法を提案し、シミュレーションと実機で検証した。
著者: Minnan Zhou, Mustafa Shaikh, Vatsalya Chaubey, Patrick Haggerty, Shumon Koga, Dimitra Panagou, Nikolay Atanasov
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper develops a control strategy for pursuit-evasion problems in environments with occlusions. We address the challenge of a mobile pursuer keeping a mobile evader within its field of view (FoV) despite line-of-sight obstructions. The signed distance function (SDF) of the FoV is used to formulate visibility as a control barrier function (CBF) constraint on the pursuer's control inputs. Similarly, obstacle avoidance is formulated as a CBF constraint based on the SDF of the obstacle set. While the visibility and safety CBFs are Lipschitz continuous, they are not differentiable everywhere, necessitating the use of generalized gradients. To achieve non-myopic pursuit, we generate reference control trajectories leading to evader visibility using a sampling-based kinodynamic planner. The pursuer then tracks this reference via convex optimization under the CBF constraints. We validate our approach in CARLA simulations and real-world robot experiments, demonstrating successful visibility maintenance using only onboard sensing, even under severe occlusions and dynamic evader movements.
