Guaranteed Obstacle Avoidance for Multi-Robot Operations With Limited Actuation: A Control Barrier Function Approach
Guaranteed Obstacle Avoidance for Multi-Robot Operations With Limited Actuation: A Control Barrier Function Approach
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DOI：
10.1109/lcsys.2020.3000748
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发表时间：
2021-01
影响因子：
3
通讯作者：
Yuxiao Chen;Andrew W. Singletary;A. Ames
中科院分区：
文献类型：
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作者：
Yuxiao Chen;Andrew W. Singletary;A. Ames
这封信考虑了在有障碍物的环境中移动的多个机器人代理的避障问题。基于控制障碍函数（CBF）合成了一种分散的监督控制器，以保证在有限的驱动能力下避障。该方法适用于一般非线性机器人动力学，可扩展到任意数量的智能体。不需要代理到代理的通信，但是一个简单的广播方案提高了算法的性能。该算法的关键思想是基于一个由备用控制器构造的控制障碍函数，并证明了通过假设其他智能体遵守相同的CBF条件，监督控制算法可以分散实现，并保证所有智能体都能避障。
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.