Dynamic Control Barrier Function-based Model Predictive Control to Safety-Critical Obstacle-Avoidance of Mobile Robot

by   Zhuozhu Jian, et al.
ETH Zurich
Harbin Institute of Technology

This paper presents an efficient and safe method to avoid static and dynamic obstacles based on LiDAR. First, point cloud is used to generate a real-time local grid map for obstacle detection. Then, obstacles are clustered by DBSCAN algorithm and enclosed with minimum bounding ellipses (MBEs). In addition, data association is conducted to match each MBE with the obstacle in the current frame. Considering MBE as an observation, Kalman filter (KF) is used to estimate and predict the motion state of the obstacle. In this way, the trajectory of each obstacle in the forward time domain can be parameterized as a set of ellipses. Due to the uncertainty of the MBE, the semi-major and semi-minor axes of the parameterized ellipse are extended to ensure safety. We extend the traditional Control Barrier Function (CBF) and propose Dynamic Control Barrier Function (D-CBF). We combine D-CBF with Model Predictive Control (MPC) to implement safety-critical dynamic obstacle avoidance. Experiments in simulated and real scenarios are conducted to verify the effectiveness of our algorithm. The source code is released for the reference of the community.


page 1

page 2

page 4

page 6


Obstacle avoidance-driven controller for safety-critical aerial robots

The goal of this thesis is to propose the combination of Control-Barrier...

Reinforcement Learning-Enhanced Control Barrier Functions for Robot Manipulators

In this paper we present the implementation of a Control Barrier Functio...

Realtime Safety Control for Bipedal Robots to Avoid Multiple Obstacles via CLF-CBF Constraints

This paper presents a reactive planning system that allows a Cassie-seri...

Integrated Decision Control Approach for Cooperative Safety-Critical Payload Transport in a Cluttered Environment

In this paper, the problem of coordinated transportation of heavy payloa...

Multisensor Data Fusion for Reliable Obstacle Avoidance

In this work, we propose a new approach that combines data from multiple...

Safety-Control of Mobile Robots Under Time-Delay Using Barrier Certificates and a Two-Layer Predictor

Performing swift and agile maneuvers is essential for the safe operation...

Sequential Neural Barriers for Scalable Dynamic Obstacle Avoidance

There are two major challenges for scaling up robot navigation around dy...

Please sign up or login with your details

Forgot password? Click here to reset