Safe and Dynamically-Feasible Motion Planning using Control Lyapunov and Barrier Functions

Autor:	Mestres, Pol, Nieto-Granda, Carlos, Cortés, Jorge
Rok vydání:	2024
Předmět:	Computer Science - Robotics Electrical Engineering and Systems Science - Systems and Control Mathematics - Optimization and Control
Druh dokumentu:	Working Paper
Popis:	This paper considers the problem of designing motion planning algorithms for control-affine systems that generate collision-free paths from an initial to a final destination and can be executed using safe and dynamically-feasible controllers. We introduce the C-CLF-CBF-RRT algorithm, which produces paths with such properties and leverages rapidly exploring random trees (RRTs), control Lyapunov functions (CLFs) and control barrier functions (CBFs). We show that C-CLF-CBF-RRT is computationally efficient for a variety of different dynamics and obstacles, and establish its probabilistic completeness. We showcase the performance of C-CLF-CBF-RRT in different simulation and hardware experiments.
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2410.08364 Zobrazit plný text záznamu View this record from Arxiv