衝突円錐を超えて：動的放物線制御バリア関数による非ホロノミックロボットの動的障害物回避
Beyond Collision Cones: Dynamic Obstacle Avoidance for Nonholonomic Robots via Dynamic Parabolic Control Barrier Functions
非ホロノミックロボットの動的障害物回避において、障害物との距離と相対速度に応じて形状が適応する放物線境界で安全集合を定義するDPCBFを提案し、従来の衝突円錐法より保守性を減らしてQP実行可能性とナビゲーション成功率を向上させた。
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著者: Hun Kuk Park, Taekyung Kim, Dimitra Panagou
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Control Barrier Functions (CBFs) are a powerful tool for ensuring the safety of autonomous systems, yet applying them to nonholonomic robots in cluttered, dynamic environments remains an open challenge. State-of-the-art methods often rely on collision-cone or velocity-obstacle constraints which, by only considering the angle of the relative velocity, are inherently conservative and can render the CBF-based quadratic program infeasible, particularly in dense scenarios. To address this issue, we propose a Dynamic Parabolic Control Barrier Function (DPCBF) that defines the safe set using a parabolic boundary. The parabola's vertex and curvature dynamically adapt based on both the distance to an obstacle and the magnitude of the relative velocity, creating a less restrictive safety constraint. We prove that the proposed DPCBF is valid for a kinematic bicycle model subject to input constraints. Extensive comparative simulations demonstrate that our DPCBF-based controller significantly enhances navigation success rates and QP feasibility compared to baseline methods. Our approach successfully navigates through dense environments with up to 100 dynamic obstacles, scenarios where collision cone-based methods fail due to infeasibility.
