Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach
Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach
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DOI：
10.1109/lcsys.2020.2997952
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发表时间：
2020-03
影响因子：
3
通讯作者：
Tatsuya Ibuki;S. Wilson;A. Ames;M. Egerstedt
中科院分区：
文献类型：
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作者：
Tatsuya Ibuki;S. Wilson;A. Ames;M. Egerstedt
本文研究了球面上刚体群的分布式避碰控制问题。首先建立了一个由约束在球面上的多个刚体和互连拓扑组成的刚体网络。在此公式中，证明了球面上的运动协调等价于三维特殊正交群上的姿态协调。然后，提出了一种能够处理球面测地线距离约束的基于角度的控制屏障函数。将所提出的控制屏障函数推广到相对运动情况，并应用于球面刚体网络的避碰问题。每个刚体通过求解分布式优化问题选择控制输入，在满足避碰约束的前提下实现标称分布式运动协调策略。通过仿真验证了所提出的无碰撞运动协调律。
This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is first formulated. In this formulation, it is shown that motion coordination on a sphere is equivalent to attitude coordination on the 3-dimensional Special Orthogonal group. Then, an angle-based control barrier function that can handle a geodesic distance constraint on a spherical surface is presented. The proposed control barrier function is then extended to a relative motion case and applied to a collision avoidance problem for a rigid body network operating on a sphere. Each rigid body chooses its control input by solving a distributed optimization problem to achieve a nominal distributed motion coordination strategy while satisfying constraints for collision avoidance. The proposed collision-free motion coordination law is validated via simulation.