期刊
IEEE CONTROL SYSTEMS LETTERS
卷 5, 期 1, 页码 127-132出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LCSYS.2020.3000748
关键词
Collision avoidance; Robots; Trajectory; Jacobian matrices; Safety; Vehicle dynamics; Decentralized control; Robotics; decentralized control; autonomous vehicles
资金
- SRI/AFOSR [FA8750-19-C-0089]
- DARPA [NNN12AA01C]
- NSF CPS [1932091]
This research addresses the issue of obstacle avoidance for multiple robotic agents in an environment with obstacles, and proposes a decentralized supervisory controller method based on control barrier functions to ensure all robots can successfully avoid obstacles. The approach is applicable to various nonlinear robot dynamics and scalable to multiple robots, without requiring communication between the robots.
This letter considers the problem of obstacle avoidance for multiple robotic agents moving in an environment with obstacles. A decentralized supervisory controller is synthesized based on control barrier functions (CBF) that guarantees obstacle avoidance with limited actuation capability. The proposed method is applicable to general nonlinear robot dynamics and is scalable to an arbitrary number of agents. Agent-to-agent communication is not required, yet a simple broadcasting scheme improves the performance of the algorithm. The key idea is based on a control barrier function constructed with a backup controller, and we show that by assuming other agents respecting the same CBF condition, the supervisory control algorithm can be implemented decentrally and guarantees obstacle avoidance for all agents.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据