Obstacle avoidance control of UGV based on adaptive-dynamic control barrier function in unstructured terrain

The widely used model predictive control of discrete-time control barrier functions (MPC-CBF) has difficulties in obstacle avoidance for unmanned ground vehicles (UGVs) in complex terrain. To address this problem, we propose adaptive dynamic control barrier functions (AD-CBF). AD-CBF is able to adap...

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Veröffentlicht in:	Robotica Jg. 42; H. 9; S. 2991 - 3004
Hauptverfasser:	Guo, Liang, Zhang, Suyu, Zhao, Wenlong, Liu, Jun, Liu, Ruijun
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Cambridge, UK Cambridge University Press 01.09.2024
Schlagworte:	Adaptive control Algorithms Clustering Dynamic control Feasibility Kalman filters Kinematics Noise prediction Obstacle avoidance Optimization Parameterization Predictive control Terrain Unmanned ground vehicles Vehicles model predictive control control barrier functions collision avoidance obstacle recognition navigation in complex environments
ISSN:	0263-5747, 1469-8668
Online-Zugang:	Volltext
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