Differentiable Optimization Based Time-Varying Control Barrier Functions for Dynamic Obstacle Avoidance
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2023
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| _version_ | 1866911763392364544 |
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| author | Dai, Bolun Khorrambakht, Rooholla Krishnamurthy, Prashanth Khorrami, Farshad |
| author_facet | Dai, Bolun Khorrambakht, Rooholla Krishnamurthy, Prashanth Khorrami, Farshad |
| contents | Control barrier functions (CBFs) provide a simple yet effective way for safe control synthesis. Recently, work has been done using differentiable optimization (diffOpt) based methods to systematically construct CBFs for static obstacle avoidance tasks between geometric shapes. In this work, we extend the application of diffOpt CBFs to perform dynamic obstacle avoidance tasks. We show that by using the time-varying CBF (TVCBF) formulation, we can perform obstacle avoidance for dynamic geometric obstacles. Additionally, we show how to extend the TVCBF constraint to consider measurement noise and actuation limits. To demonstrate the efficacy of our proposed approach, we first compare its performance with a model predictive control based method and a circular CBF based method on a simulated dynamic obstacle avoidance task. Then, we demonstrate the performance of our proposed approach in experimental studies using a 7-degree-of-freedom Franka Research 3 robotic manipulator. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2309_17226 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Differentiable Optimization Based Time-Varying Control Barrier Functions for Dynamic Obstacle Avoidance Dai, Bolun Khorrambakht, Rooholla Krishnamurthy, Prashanth Khorrami, Farshad Robotics Control barrier functions (CBFs) provide a simple yet effective way for safe control synthesis. Recently, work has been done using differentiable optimization (diffOpt) based methods to systematically construct CBFs for static obstacle avoidance tasks between geometric shapes. In this work, we extend the application of diffOpt CBFs to perform dynamic obstacle avoidance tasks. We show that by using the time-varying CBF (TVCBF) formulation, we can perform obstacle avoidance for dynamic geometric obstacles. Additionally, we show how to extend the TVCBF constraint to consider measurement noise and actuation limits. To demonstrate the efficacy of our proposed approach, we first compare its performance with a model predictive control based method and a circular CBF based method on a simulated dynamic obstacle avoidance task. Then, we demonstrate the performance of our proposed approach in experimental studies using a 7-degree-of-freedom Franka Research 3 robotic manipulator. |
| title | Differentiable Optimization Based Time-Varying Control Barrier Functions for Dynamic Obstacle Avoidance |
| topic | Robotics |
| url | https://arxiv.org/abs/2309.17226 |