Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments
Fuente:
arXiv
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Preprint |
| Published: |
2023
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866914775922900992 |
|---|---|
| author | Long, Kehan Tran, Khoa Leok, Melvin Atanasov, Nikolay |
| author_facet | Long, Kehan Tran, Khoa Leok, Melvin Atanasov, Nikolay |
| contents | This paper addresses the challenge of safe navigation for rigid-body mobile robots in dynamic environments. We introduce an analytic approach to compute the distance between a polygon and an ellipse, and employ it to construct a control barrier function (CBF) for safe control synthesis. Existing CBF design methods for mobile robot obstacle avoidance usually assume point or circular robots, preventing their applicability to more realistic robot body geometries. Our work enables CBF designs that capture complex robot and obstacle shapes. We demonstrate the effectiveness of our approach in simulations highlighting real-time obstacle avoidance in constrained and dynamic environments for both mobile robots and multi-joint robot arms. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2310_00273 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments Long, Kehan Tran, Khoa Leok, Melvin Atanasov, Nikolay Robotics Optimization and Control This paper addresses the challenge of safe navigation for rigid-body mobile robots in dynamic environments. We introduce an analytic approach to compute the distance between a polygon and an ellipse, and employ it to construct a control barrier function (CBF) for safe control synthesis. Existing CBF design methods for mobile robot obstacle avoidance usually assume point or circular robots, preventing their applicability to more realistic robot body geometries. Our work enables CBF designs that capture complex robot and obstacle shapes. We demonstrate the effectiveness of our approach in simulations highlighting real-time obstacle avoidance in constrained and dynamic environments for both mobile robots and multi-joint robot arms. |
| title | Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments |
| topic | Robotics Optimization and Control |
| url | https://arxiv.org/abs/2310.00273 |