论文标题
使用控制屏障功能的连续可及性任务过渡
Continuous Reachability Task Transition Using Control Barrier Functions
论文作者
论文摘要
在本文中，提出了一种在连续时间移动机器人系统中实现顺序可及性任务之间平稳过渡的方法。控制屏障功能提供了正式保证安全集合和有限时间到达的远期不变性，并能够执行任务执行。二次程序中使用的障碍功能导致实现具有实时性能保证的控制器。使用控制屏障功能的多目标任务执行的现有方法利用离散切换的顺序二次程序来实现连续任务。但是，离散的切换会导致控制输入不连续性，这可能会影响机器人的性能。因此，我们提出了一种确保顺序二次程序之间连续过渡的方法。特别是，引入了屏障函数约束的时间变化的时间，该时间允许目标之间的平稳过渡。还提供了机器人实施结果。
In this paper, a method to achieve smooth transitions between sequential reachability tasks for a continuous time mobile robotic system is presented. Control barrier functions provide formal guarantees of forward invariance of safe sets and finite-time reachability and are able to enforce task execution. Barrier functions used in quadratic programs result in implementation of controllers with real-time performance guarantees. Existing approaches for multi-objective task execution using control barrier functions leverage discretely switched, sequential quadratic programs to achieve successive tasks. However, discrete switching can lead to control input discontinuities which can affect a robot's performance. Hence, we propose a method which ensures continuous transitions between sequential quadratic programs. In particular, a time varying component to the barrier function constraint is introduced which allows for a smooth transition between objectives. Robotic implementation results are also provided.
