Safe and Dynamically-Feasible Motion Planning using Control Lyapunov and Barrier Functions
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866916651167907840 |
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| author | Mestres, Pol Nieto-Granda, Carlos Cortés, Jorge |
| author_facet | Mestres, Pol Nieto-Granda, Carlos Cortés, Jorge |
| contents | This paper considers the problem of designing motion planning algorithms for control-affine systems that generate collision-free paths from an initial to a final destination and can be executed using safe and dynamically-feasible controllers. We introduce the C-CLF-CBF-RRT algorithm, which produces paths with such properties and leverages rapidly exploring random trees (RRTs), control Lyapunov functions (CLFs) and control barrier functions (CBFs). We show that C-CLF-CBF-RRT is computationally efficient for linear systems with polytopic and ellipsoidal constraints, and establish its probabilistic completeness. We showcase the performance of C-CLF-CBF-RRT in different simulation and hardware experiments. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2410_08364 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Safe and Dynamically-Feasible Motion Planning using Control Lyapunov and Barrier Functions Mestres, Pol Nieto-Granda, Carlos Cortés, Jorge Robotics Systems and Control Optimization and Control This paper considers the problem of designing motion planning algorithms for control-affine systems that generate collision-free paths from an initial to a final destination and can be executed using safe and dynamically-feasible controllers. We introduce the C-CLF-CBF-RRT algorithm, which produces paths with such properties and leverages rapidly exploring random trees (RRTs), control Lyapunov functions (CLFs) and control barrier functions (CBFs). We show that C-CLF-CBF-RRT is computationally efficient for linear systems with polytopic and ellipsoidal constraints, and establish its probabilistic completeness. We showcase the performance of C-CLF-CBF-RRT in different simulation and hardware experiments. |
| title | Safe and Dynamically-Feasible Motion Planning using Control Lyapunov and Barrier Functions |
| topic | Robotics Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2410.08364 |