予測制御と適応的バリア関数を用いた自律表面船舶の安全な運動計画と制御
Safe Motion Planning and Control Using Predictive and Adaptive Barrier Methods for Autonomous Surface Vessels
MPCと制御バリア関数を組み合わせ、障害物との相対位置に応じて膨張半径を適応させることで、狭い水路でも安全かつ保守的すぎない自律船舶の運動計画を実現した。
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著者: Alejandro Gonzalez-Garcia, Wei Xiao, Wei Wang, Alejandro Astudillo, Wilm Decré, Jan Swevers, Carlo Ratti, Daniela Rus
分類: cs.RO
原文アブストラクト
Safe motion planning is essential for autonomous vessel operations, especially in challenging spaces such as narrow inland waterways. However, conventional motion planning approaches are often computationally intensive or overly conservative. This paper proposes a safe motion planning strategy combining Model Predictive Control (MPC) and Control Barrier Functions (CBFs). We introduce a time-varying inflated ellipse obstacle representation, where the inflation radius is adjusted depending on the relative position and attitude between the vessel and the obstacle. The proposed adaptive inflation reduces the conservativeness of the controller compared to traditional fixed-ellipsoid obstacle formulations. The MPC solution provides an approximate motion plan, and high-order CBFs ensure the vessel's safety using the varying inflation radius. Simulation and real-world experiments demonstrate that the proposed strategy enables the fully-actuated autonomous robot vessel to navigate through narrow spaces in real time and resolve potential deadlocks, all while ensuring safety.
