This paper demonstrates that the safety override arising from the use of a barrier function can in some cases be needlessly restrictive. In particular, we examine the case of fixed-wing collision avoidance and show that when using a barrier function, there are cases where two fixed-wing aircraft can come closer to colliding than if there were no barrier function at all. In addition, we construct cases where the barrier function labels the system as unsafe even when the vehicles start arbitrarily far apart. In other words, the barrier function ensures safety but with unnecessary costs to performance. We therefore introduce model-free barrier functions which take a data driven approach to creating a barrier function. We demonstrate the effectiveness of model-free barrier functions in a collision avoidance simulation of two fixed-wing aircraft.
翻译:本文表明,由于使用屏障功能而产生的安全重叠在某些情况下可能是不必要的限制,特别是,我们研究了避免固定翼碰撞的情况,并表明,在使用屏障功能时,有两架固定翼飞机比根本没有屏障功能时更接近于碰撞;此外,我们建造了屏障功能将系统称为不安全的情况,即使车辆开始任意相隔很远,换句话说,屏障功能确保安全,但产生不必要的性能费用;因此,我们采用无模范屏障功能,采用数据驱动的方法来设置屏障功能;我们在模拟两架固定翼飞机避免碰撞时,展示了无模范屏障功能的有效性。