BubbleCBF：二次系のための構成的安全制約と未知環境における自律ロボットナビゲーションへの応用
BubbleCBF: Constructive Safety for Second-Order Systems and Application to Autonomous Robot Navigation in Unknown Environments
位置空間に衝突のない球（バブル）を構成し、その二次幾何と重なりから速度依存の安全制約を導出することで、二次系の実行可能な安全フィルタを設計し、未知環境でのロボットナビゲーションを実現した。
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著者: Mani Amani, Mohammed Alyaseen, Zhirui Dai, Ki Myung Brian Lee, Nikolay Atanasov, Jorge Cortes
分類: cs.RO
原文アブストラクト
Satisfying safety constraints for systems with second-order dynamics is challenging because a position constraint may require infeasible deceleration. Higher-order control barrier functions (CBFs) provide an approach for expressing safety conditions for such systems but feasibility depends on the system dynamics and available control authority. We develop a constructive approach for designing feasible safety constraints for second-order control-affine systems. Starting from a signed distance function (SDF), we construct collision-free spheres, i.e., bubbles, in position space, and use their quadratic geometry and overlap to construct a velocity-dependent safety constraint. The associated safe set is represented as a union of intersections and enforced through a quadratic-program safety filter. Under mild assumptions on the dynamics, bubble overlap, and design parameters, we prove that the quadratic-program-based controller is well defined, continuous in the system state, and renders the set forward invariant. We also derive sufficient conditions for feasibility under bounded inputs. We demonstrate that our BubbleCBF, applied to a differential-drive robot, achieves safe autonomous navigation in unknown environments. Videos and results are available at: https://existentialrobotics.org/bubblecbf/.
関連論文
- 制御バリア関数を用いたマルチロータ向け組み込み安全反応ナビゲーション安全制御/ナビゲーション
