Cooperative Path Following with Collision Avoidance Guarantees Using Control Lyapunov and Barrier Functions

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2022

Autores

Reis, MF (Autor) Outra; Anand, P (Autor) Outra; Aguiar, AP (Autor) FEUP

Ata de Conferência Internacional

Título: CONTROLO 2022

Páginas: 181-193

15th APCA International Conference on Automatic Control and Soft Computing (CONTROLO)

Caparica, PORTUGAL, JUL 06-08, 2022

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 181 Citações

Outras Informações

ID Authenticus: P-00X-02B

DOI: 10.1007/978-3-031-10047-5_16

Abstract (EN): In this paper, we address the problem of safety-critical, cooperative path following (CPF) control for a swarm of heterogeneous robotic vehicles following possibly intersecting paths. Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs) are utilized on a Quadratic Program (QP) based controller to achieve the desired task, while also giving explicit collision avoidance guarantees. We propose a modified CLF-CBF based QP controller to overcome deadlock-like configurations by assigning specific priorities for each of the agents. Numerical simulation results for three agents shows the efficacy of the proposed methodology.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 13