時空間チューブによる差動駆動系の時間的到達・回避・滞在制御
Temporal Reach-Avoid-Stay Control for Differential Drive Systems via Spatiotemporal Tubes
差動駆動移動ロボットに対し、時間変化する円形チューブで安全な経路を設計し、外乱に強い閉形式制御で到達・回避・滞在を保証する手法を提案した。
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著者: Ratnangshu Das, Ahan Basu, Christos Verginis, Pushpak Jagtap
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper presents a computationally lightweight and robust control framework for differential-drive mobile robots with dynamic uncertainties and external disturbances, guaranteeing the satisfaction of Temporal Reach-Avoid-Stay (T-RAS) specifications. The approach employs circular spatiotemporal tubes (STTs), characterized by smoothly time-varying center and radius, to define dynamic safe corridors that guide the robot from the start region to the goal while avoiding obstacles. In particular, we first develop a sampling-based synthesis algorithm to construct a feasible STT that satisfies the prescribed timing and safety constraints with formal guarantees. To ensure that the robot remains confined within this tube, we then analytically design a closed-form control that is computationally efficient and robust to disturbances. The proposed framework is validated through simulation studies on a differential-drive robot and benchmarked against state-of-the-art methods, demonstrating superior robustness, accuracy, and computational efficiency.
