Observer-Based Environment Robust Control Barrier Functions for Safety-critical Control with Dynamic Obstacles
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866911804566798336 |
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| author | Quan, Ying Shuai Zhou, Jian Frisk, Erik Chung, Chung Choo |
| author_facet | Quan, Ying Shuai Zhou, Jian Frisk, Erik Chung, Chung Choo |
| contents | This paper proposes a safety-critical controller for dynamic and uncertain environments, leveraging a robust environment control barrier function (ECBF) to enhance the robustness against the measurement and prediction uncertainties associated with moving obstacles. The approach reduces conservatism, compared with a worst-case uncertainty approach, by incorporating a state observer for obstacles into the ECBF design. The controller, which guarantees safety, is achieved through solving a quadratic programming problem. The proposed method's effectiveness is demonstrated via a dynamic obstacle-avoidance problem for an autonomous vehicle, including comparisons with established baseline approaches. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_13288 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Observer-Based Environment Robust Control Barrier Functions for Safety-critical Control with Dynamic Obstacles Quan, Ying Shuai Zhou, Jian Frisk, Erik Chung, Chung Choo Systems and Control This paper proposes a safety-critical controller for dynamic and uncertain environments, leveraging a robust environment control barrier function (ECBF) to enhance the robustness against the measurement and prediction uncertainties associated with moving obstacles. The approach reduces conservatism, compared with a worst-case uncertainty approach, by incorporating a state observer for obstacles into the ECBF design. The controller, which guarantees safety, is achieved through solving a quadratic programming problem. The proposed method's effectiveness is demonstrated via a dynamic obstacle-avoidance problem for an autonomous vehicle, including comparisons with established baseline approaches. |
| title | Observer-Based Environment Robust Control Barrier Functions for Safety-critical Control with Dynamic Obstacles |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2403.13288 |