制約・動的環境下での自律ナビゲーションのためのロボット中心のリアクティブ安全性
Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments
3D LIDARと制御バリア関数を用いて、動的環境での衝突回避をリアルタイムに実現する安全フィルタを提案し、四足ロボットで実証した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
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著者: Viswa Narayanan Sankaranarayanan, Vignesh K. Viswanathan, Akshit Saradagi, Sumeet Satpute, George Nikolakopoulos
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors. We present a real-time control architecture that integrates a 3D LIDAR perception-based composite control barrier function(CBF)-based safety filter directly into the autonomy pipeline. The proposed perception-driven framework enforces collision avoidance constraints dynamically from onboard point cloud data, thus allowing a large number of constraints to be handled at the control frequency, while remaining minimally invasive to nominal task execution. The safety region is defined as an ellipsoid in the body-frame, consistent with the geometry of the platform, which induces time-varying constraints in the world frame as the robot rotates; this effect is handled through a dedicated formulation of time-varying (CBF) for each LIDAR point. We validate the system through multiple field experiments in underground environments by utilizing a quadruped platform performing a visual inspection task, demonstrating reliable operation in the presence of dynamic obstacles, unsafe high-level references, abrupt localization anomalies, and while traversing through narrow corridors.
