Core Concepts
Proposing an observer-based safety-critical controller for dynamic environments to enhance robustness against uncertainties associated with moving obstacles.
Abstract
The paper introduces the concept of Environment Control Barrier Functions (ECBFs) and explores robust ECBFs to mitigate errors in dynamic environments. It compares the proposed method with established baseline approaches, demonstrating effectiveness through simulations. The content is structured into sections covering Introduction, Preliminaries, Observer-Based Robust ECBF, Case Study, Results and Discussion, and Conclusion.
Introduction:
CBFs ensure safety in control systems.
Challenges in designing CBF-based controllers in dynamic environments.
Importance of robust ECBFs for uncertain dynamic environments.
Preliminaries:
Definition of CBFs and ECBFs.
Conditions for a function to be a CBF or an ECBF.
Theorems establishing safety guarantees based on CBFs and ECBFs.
Observer-Based Robust ECBF:
Designing a bounded-error observer for surrounding obstacles.
Estimation errors of environmental states.
Formulating a robust ECBF considering estimation errors.
Case Study:
Scenario description and system modeling for obstacle avoidance.
Designing a bounded-error observer for the case study scenario.
Results and Discussion:
Comparison of trajectories generated by different methods.
Analysis of CBF values with different approaches.
Control inputs comparison between methods.
Computation time comparison among approaches.
Stats
The proposed method reduces conservatism by estimating environmental states through observers instead of using worst-case errors.
Quotes
"The proposed method is safer than the nominal ECBF due to consideration of environmental uncertainties."
"The method reduces conservatism and increases computational efficiency compared with the robust ECBF."