文章基本信息

标题：Maneuvering with safety guarantees using control barrier functions ⁎
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作者：Mathias Marley ; Roger Skjetne ; Erlend Basso 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2021
卷号：54
期号：16
页码：370-377
DOI：10.1016/j.ifacol.2021.10.118
语种：English
出版社：Elsevier
摘要：AbstractControl barrier functions (CBFs) ensure safety of controlled dynamical systems, by restricting the control inputs to render desired sets forward invariant. In this paper we propose a dynamic guidance scheme for autonomous vehicles, using CBFs to reactively generate an obstacle-free trajectory. By implementing the safety constraints on a kinematic guidance level, rather than on a lower-level control layer, we do not need to account for uncertainty in the ship dynamics explicitly. Moreover, for ships with well-proven and resilient control systems, this is an appropriate interface level, since it does not require modification of lower-level feedback control. The guidance scheme is applied to maneuvering of underactuated ships, using a virtual vessel with unicycle dynamics to trace out a feasible trajectory.
关键词：KeywordsControl barrier functionsmaneuveringAMVspath followingobstacle avoidance