This paper extends the gap-based navigation technique in Potential Gap by guaranteeing safety for nonholonomic robots for all tiers of the local planner hierarchy, so called Safer Gap. The first tier generates a Bezier-based collision-free path through gaps. A subset of navigable free-space from the robot through a gap, called the keyhole, is defined to be the union of the largest collision-free disc centered on the robot and a trapezoidal region directed through the gap. It is encoded by a shallow neural network zeroing barrier function (ZBF). Nonlinear model predictive control (NMPC), with Keyhole ZBF constraints and output tracking of the Bezier path, synthesizes a safe kinematically-feasible trajectory. Low-level use of the Keyhole ZBF within a point-wise optimization-based safe control synthesis module serves as a final safety layer. Simulation and experimental validation of Safer Gap confirm its collision-free navigation properties.
翻译:本文扩展了潜在差距中基于差距的导航技术,保障当地规划者层级所有级别的非光学机器人的安全,称为“更安全差距”。第一层产生一条穿越空白的无贝塞尔碰撞路径。从机器人到一个空隙的可导航自由空间,称为“键孔”,被定义为以机器人为中心的最大无碰撞盘和通过空隙为方向的捕捉式分离区的结合。它由浅线性网络零屏障功能(ZBF)编码。非线性模型预测控制(NMPC),配有基洞 ZB 限制和贝塞尔路径输出跟踪,合成一个安全的动态可行轨迹。基洞 ZBF 在一个有点智慧的优化安全控制合成模块中低度使用基洞 ZBF 是一个最终的安全层。安全Gap更安全屏的模拟和实验验证证实了其无碰撞导航特性。</s>