Optimization-based Distributed Safety Control with Applications to Collision Avoidance for Mobile Robotic Networks
Optimization-based Distributed Safety Control with Applications to Collision Avoidance for Mobile Robotic Networks
复制标题
基于优化的分布式安全控制及其在移动机器人网络防撞中的应用
DOI：
10.1080/01691864.2022.2119886
复制
发表时间：
2022
影响因子：
2
通讯作者：
Mitsuji Sampei
中科院分区：
文献类型：
--
作者：
Tatsuya Ibuki;Taichi Hirano;Riku Funada;Mitsuji Sampei
本文提出了一种分布式输入校正方法，以保证安全的多智能体系统在其预先给定的合作控制任务。我们首先定义一个多智能体系统作为控制目标，它由一组具有一般控制仿射非线性动力学的智能体和智能体之间的互连拓扑结构组成。研究目标安全性接下来通过集合不变性来定义，其中安全集合由控制屏障函数形成。在此基础上，提出了一种基于优化的分布式安全控制方法。在所提出的方法中，每个代理纠正其控制输入，通过解决一个单独的优化问题，以实现尽可能多的预先给定的合作控制策略，同时满足通过调查控制障碍函数的安全性约束。在这里，通过在代理之间划分安全约束，以分布式方式制定优化问题。为了显示本方法的实用性，碰撞避免问题的移动的机器人网络的案例研究。
This paper presents a distributed input rectification methodology to guarantee the safety of a multi-agent system over its pre-given cooperative control task. We start with defining a multi-agent system as a control target, which consists of a group of agents with general control affine nonlinear dynamics and an interconnection topology between agents. The research objective, safety, is next defined via a set invariance property, where a safe set is formed by control barrier functions. Then, an optimization-based distributed safety control method is presented. In the proposed approach, each agent rectifies its control input by solving an individual optimization problem to achieve a pre-given cooperative control strategy as much as possible while satisfying constraints for the safety derived by investigating the control barrier functions. Here, the optimization problem is formulated in a distributed manner by dividing the safety constraint between agents. To show the utility of the present approach, collision avoidance problems of a mobile robotic network are investigated as case studies.