为多面体机器人设计安全导航方法，确保避障且有理论保障。
Navigating Polytopes with Safety: A Control Barrier Function Approach
- 用闭式表达生成控制屏障函数，实现安全控制
- 在2D与3D环境中成功避障，包括动态变化场景
- 适合对安全性要求高的自主系统开发
碰撞规避是许多自主系统的基本需求。本文提出一种针对多面体形状智能体在多面体环境中的安全导航控制方法。通过系统性方法生成闭式表达的控制屏障函数候选，从而设计出具有形式化安全保证的控制器。该方法在仿真中得到验证，涵盖二维和三维环境下的避障案例，包括动态变化的环境。
原文摘要 · Abstract (English)
Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic method is proposed to generate control barrier function candidates in closed form that lead to controllers with formal safety guarantees. The proposed approach is demonstrated through simulation, with obstacle avoidance examples in 2D and 3D, including dynamically changing environments.
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