Fu Junjie, Wen Guanghui, Yu Xinghuo, Huang Tingwen
IEEE Trans Cybern. 2024 Mar;54(3):1734-1746. doi: 10.1109/TCYB.2023.3248125. Epub 2024 Feb 9.
In this work, we consider the safe deployment problem of multiple robots in an obstacle-rich complex environment. When a team of velocity and input-constrained robots is required to move from one area to another, a robust collision-avoidance formation navigation method is needed to achieve safe transferring. The constrained dynamics and the external disturbances make the safe formation navigation a challenging problem. A novel robust control barrier function-based method is proposed which enables collision avoidance under globally bounded control input. First, a nominal velocity and input-constrained formation navigation controller is designed which uses only the relative position information based on a predefined-time convergent observer. Then, new robust safety barrier conditions are derived for collision avoidance. Finally, a local quadratic optimization problem-based safe formation navigation controller is proposed for each robot. Simulation examples and comparison with existing results are provided to demonstrate the effectiveness of the proposed controller.
在这项工作中，我们考虑了多个机器人在障碍物密集的复杂环境中的安全部署问题。当一组速度和输入受限的机器人需要从一个区域移动到另一个区域时，需要一种鲁棒的避碰编队导航方法来实现安全转移。受限动力学和外部干扰使得安全编队导航成为一个具有挑战性的问题。提出了一种基于鲁棒控制障碍函数的新方法，该方法能够在全局有界控制输入下实现避碰。首先，设计了一种标称速度和输入受限的编队导航控制器，该控制器仅基于预定义时间收敛观测器使用相对位置信息。然后，推导了用于避碰的新的鲁棒安全障碍条件。最后，为每个机器人提出了一种基于局部二次优化问题的安全编队导航控制器。提供了仿真示例并与现有结果进行了比较，以证明所提出控制器的有效性。
