Hybrid Nonsmooth Barrier Functions With Applications to Provably Safe and Composable Collision Avoidance for Robotic Systems
Hybrid Nonsmooth Barrier Functions With Applications to Provably Safe and Composable Collision Avoidance for Robotic Systems
复制标题
混合非光滑屏障函数及其在机器人系统中可证明安全且可组合碰撞避免的应用
DOI：
10.1109/lra.2019.2895125
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发表时间：
2019
影响因子：
5.2
通讯作者：
Egerstedt, Magnus
中科院分区：
文献类型：
--
作者：
Glotfelter, Paul;Buckley, Ian;Egerstedt, Magnus
机器人正在进入一个无处不在的时代，为了有效运行，这些系统通常必须满足一系列约束条件（例如，避免碰撞、遵守速度限制、保持连接）。此外，现代应用依赖于特定任务的完成，例如开车到某个位置或监视农田。满足约束和完成目标之间的二分法产生了对约束满足框架的需求，这些框架可以与预先存在的主要目标组合在一起。势垒函数最近作为一种实用的、可组合的约束满足方法而出现，先前的结果证明了非光滑势垒函数的布尔逻辑系统以及可组合的控制器-综合框架；然而，先前的工作没有考虑动态变化的约束（例如，机器人感知和避开障碍物）。因此，本文的主要理论贡献是将非光滑势垒函数扩展到具有跳跃的时变势垒函数。在理论主要结果的实际实例中，这封信通过制定一个避碰框架并将其与标称控制器组合在一起，重新审视了一个经典问题。实验结果表明，该框架在配备光探测和测距（LIDAR）的差动驱动机器人上具有实时避障场景的有效性。
Robots are entering an age of ubiquity, and to operate effectively, these systems must typically satisfy a series of constraints (e.g., collision avoidance, obeying speed limits, maintaining connectivity). In addition, modern applications hinge on the completion of particular tasks, such as driving to a certain location or monitoring a crop patch. The dichotomy between satisfying constraints and completing objectives creates a need for constraint-satisfaction frameworks that are composable with a pre-existing primary objective. Barrier functions have recently emerged as a practical and the composable method for constraint satisfaction, and prior results demonstrate a system of Boolean logic for nonsmooth barrier functions as well as a composable controller-synthesis framework; however, this prior work does not consider dynamically changing constraints (e.g., a robot sensing and avoiding an obstacle). Consequently, the main theoretical contribution of this letter extends nonsmooth barrier functions to time-varying barrier functions with jumps. In a practical instantiation of the theoretical main results, this letter revisits a classic problem by formulating a collision-avoidance framework and composing it with a nominal controller. Experimental results show the efficacy of this framework on a light detection and ranging (LIDAR)-equipped differential-drive robot in a real-time obstacle-avoidance scenario.
影响因子：
3
作者：
Glotfelter, Paul;Cortes, Jorge;Egerstedt, Magnus
通讯作者：
Egerstedt, Magnus
移动机器人团队中无碰撞连接维护的多目标组合
DOI：
10.1109/cdc.2016.7798663
发表时间：
2016
期刊：
2016 IEEE 55th Conference on Decision and Control (CDC)
影响因子：
--
作者：
["Li Wang
通讯作者：
["Li Wang