A Duality-based Approach for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions.
Year: 2021
Type: preprint
Abstract: Developing controllers for obstacle avoidance between polytopes is a challenging and necessary problem for navigation in a tight space. Traditional approaches can only formulate the obstacle avoidance problem as an offline optimization problem. To address these challenges, we propose a duality-based safety-critical optimal control using control barrier functions for obstacle avoidance between polytopes, which can be solved in real-time with a QP-based optimization problem. A dual optimization problem is introduced to represent the minimum distance between polytopes and the Lagrangian function for the dual form is applied to construct a control barrier function. We demonstrate the proposed controller on a moving sofa problem where non-conservative maneuvers can be achieved in a tight space.
Source: arXiv (Cornell University)
Authors: Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
Institution: University of California, Berkeley
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W3185290742