Robot Safe Planning In Dynamic Environments Based On Model Predictive Control Using Control Barrier Function

Implementing obstacle avoidance in dynamic environments is a challenging problem for robots. Model predictive control (MPC) is a popular strategy for dealing with this type of problem, and recent work mainly uses control barrier function (CBF) as hard constraints to ensure that the system state rema...

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Veröffentlicht in:	arXiv.org 2024-04
Hauptverfasser:	Lu, Zetao, Feng, Kaijun, Xu, Jun, Chen, Haoyao, Yunjiang Lou
Format:	Artikel
Sprache:	eng
Schlagworte:	Controllers Double integrators Navigation Obstacle avoidance Performance degradation Predictive control Robot control Robots Safety
Online-Zugang:	Volltext
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