论文标题
使用支撑线的控制屏障功能的椭圆形剂避免碰撞
Collision Avoidance for Elliptical Agents with Control Barrier Function Utilizing Supporting Lines
论文作者
论文摘要
本文提出了一种避免碰撞的方法，用于在二维空间中行驶的椭圆形剂。我们首先为两个椭圆形剂制定了一个分离条件，该椭圆形剂利用从代理的支撑线到另一个代理的签名距离，如果两个椭圆被线分离，该距离将使正值呈正值。由于该签名的距离可能会产生比两个椭圆之间的实际距离短的长度，因此支撑线旋转，以使从线到另一个椭圆的签名距离最大化。我们证明，这个最大化问题使签名的距离等同于两个椭圆之间的实际距离，因此不会导致保守的逃避运动。然后，我们提出了使用新颖的控制屏障功能的碰撞方法，该功能纳入了支持线的基于梯度的更新定律。在模拟中评估了所提出方法的有效性。
This paper presents a collision avoidance method for elliptical agents traveling in a two-dimensional space. We first formulate a separation condition for two elliptical agents utilizing a signed distance from a supporting line of an agent to the other agent, which renders a positive value if two ellipses are separated by the line. Because this signed distance could yield a shorter length than the actual distance between two ellipses, the supporting line is rotated so that the signed distance from the line to the other ellipse is maximized. We prove that this maximization problem renders the signed distance equivalent to the actual distance between two ellipses, hence not causing the conservative evasive motion. Then, we propose the collision avoidance method utilizing novel control barrier functions incorporating a gradient-based update law of a supporting line. The validity of the proposed methods is evaluated in the simulations.
