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Titel:

Safe Feedback Motion Planning in Unknown Environments: An Instantaneous Local Control Barrier Function Approach

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
Li, Cong; Zhang, Zengjie; Ahmed, Nesrin; Liu, Qingchen; Liu, Fangzhou; Buss, Martin
Abstract:
Mobile robots are desired with resilience to safely interact with prior-unknown environments and finally accomplish given tasks. This paper utilizes instantaneous local sensory data to stimulate the safe feedback motion planning (SFMP) strategy with adaptability to diverse prior-unknown environments without building a global map. This is achieved by the numerical optimization with the constraints, referred to as instantaneous local control barrier functions (IL-CBFs) and goal-driven control Lyap...     »
Stichworte:
Collision avoidance, Goal-driven control lyapunov function, Instantaneous local control barrier function, Safe feedback motion planning
Zeitschriftentitel:
Journal of Intelligent and Robotic Systems: Theory and Applications
Jahr:
2023
Band / Volume:
109
Jahr / Monat:
2023-10
Monat:
Oct
Heft / Issue:
2
Seitenangaben Beitrag:
1-15
Reviewed:
ja
Sprache:
en
Volltext / DOI:
doi:10.1007/s10846-023-01962-8
Verlag / Institution:
Springer Netherlands
Print-ISSN:
0921-0296
Hinweise:
Publisher Copyright: © 2023, The Author(s).
Semester:
WS 23-24
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