In this paper, we propose a new class of Control Barrier Functions (CBFs) for Unmanned Ground Vehicles (UGVs) that help avoid collisions with kinematic (non-zero velocity) obstacles. While the current forms of CBFs have been successful in guaranteeing safety/collision avoidance with static obstacles, extensions for the dynamic case with torque/acceleration-controlled unicycle and bicycle models have seen limited success. Moreover, with these nonholonomic UGV models, applications of existing CBFs have been conservative in terms of control, i.e., steering/thrust control has not been possible under certain common scenarios. Drawing inspiration from the classical use of collision cones for obstacle avoidance in path planning, we introduce its novel CBF formulation with theoretical guarantees on safety for both the unicycle and bicycle models. The main idea is to ensure that the velocity of the obstacle w.r.t. the vehicle is always pointing away from the vehicle. Accordingly, we construct a constraint that ensures that the velocity vector always avoids a cone of vectors pointing at the vehicle. The efficacy of this new control methodology is experimentally verified on the Copernicus mobile robot. We further extend it to the bicycle model and demonstrate collision avoidance under various scenarios in the CARLA simulator.
翻译:在本文中,我们建议为无人驾驶的地面车辆(UGVs)建立一个新的控制屏障功能(CBFs)类别,帮助避免与运动(非零速度)障碍发生碰撞。虽然目前形式的CBFs成功地保证了安全/冷却,并设置了静态障碍,但是,对由冷却/加速控制的单车和自行车模式的动态案例的延伸取得了有限的成功。此外,由于这些非血压的UGV模式,现有CBs的应用在控制方面一直比较保守,即在一些常见情况下,指导/断路控制是不可能的。从典型的碰撞锥体的使用中汲取了灵感,从而避免了道路规划中的阻力。我们引入了CBF的新型设计,在理论上保证了单车和自行车模式的安全性。主要想法是确保车辆的阻力速度总是远离车辆。因此,我们设置了一种限制,确保速度矢量在控制方面总是避免在车辆上标出一个矢量的锥体。我们用新的控制方法的功效是,在飞行器上进一步验证了新的控制模式。</s>