用转向圆距离优化非完整车辆避障，减少急转弯和降速。
Turning Circle-based Control Barrier Function for Efficient Collision Avoidance of Nonholonomic Vehicles
- 基于转向圆距离设计新控制屏障函数
- 相比传统方法轨迹更平滑，效率提升明显
- 适合无人车、无人机等受限运动系统
本文提出一种新型控制屏障函数（CBF），旨在提升非完整车辆的避障效率。传统CBF通常依赖于到障碍物的最短欧氏距离，忽略了非完整车辆转向能力受限的特性，常导致急转弯和过度减速，降低避障效率。本文方法通过引入转向圆距离，考虑车辆受非完整约束带来的运动局限性。所提CBF与模型预测控制（MPC）结合，生成比仅依赖欧氏距离的现有方法更高效的轨迹。通过在单轮车上的数值仿真及欠驱动水面车辆的实验验证了该方法的有效性。
原文摘要 · Abstract (English)
This paper presents a new control barrier function (CBF) designed to improve the efficiency of collision avoidance for nonholonomic vehicles. Traditional CBFs typically rely on the shortest Euclidean distance to obstacles, overlooking the limited heading change ability of nonholonomic vehicles. This often leads to abrupt maneuvers and excessive speed reductions, which is not desirable and reduces the efficiency of collision avoidance. Our approach addresses these limitations by incorporating the distance to the turning circle, considering the vehicle's limited maneuverability imposed by its nonholonomic constraints. The proposed CBF is integrated with model predictive control (MPC) to generate more efficient trajectories compared to existing methods that rely solely on Euclidean distance-based CBFs. The effectiveness of the proposed method is validated through numerical simulations on unicycle vehicles and experiments with underactuated surface vehicles.
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