時空間チューブを用いた指定時間内到達・回避・滞在タスクのための制御バリア関数
Control Barrier Functions for Prescribed-time Reach-Avoid-Stay Tasks using Spatiotemporal Tubes
時空間チューブの枠組みで制御バリア関数を構築し、指定時間内に目標へ到達しつつ障害物を回避し安全領域に滞在する制御を実現した。
著者: Ratnangshu Das, Pranav Bakshi, Pushpak Jagtap
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
Prescribed-time reach-avoid-stay (PT-RAS) specifications are crucial in applications requiring precise timing, state constraints, and safety guarantees. While control carrier functions (CBFs) have emerged as a promising approach, providing formal guarantees of safety, constructing CBFs that satisfy PT-RAS specifications remains challenging. In this paper, we present a novel approach using a spatiotemporal tubes (STTs) framework to construct CBFs for PT-RAS tasks. The STT framework allows for the systematic design of CBFs that dynamically manage both spatial and temporal constraints, ensuring the system remains within a safe operational envelope while achieving the desired temporal objectives. The proposed method is validated with two case studies: temporal motion planning of an omnidirectional robot and temporal waypoint navigation of a drone with obstacles, using higher-order CBFs.
