A Control Barrier Function Approach for Observer-based Visually Safe Pursuit Control with Spherical Obstacles

被引：2

作者：

Fujinami, Tesshu ^{[1
]}

Yamauchi, Junya ^{[1
]}

Funada, Riku ^{[2
]}

Fujita, Masayuki ^{[1
]}

机构：

[1] Univ Tokyo, Dept Informat Phys & Comp, Tokyo 1138656, Japan

[2] Tokyo Inst Technol, Dept Syst & Control Engn, Tokyo 1528550, Japan

来源：

IFAC PAPERSONLINE | 2023年 / 56卷 / 02期

关键词：

Vision-based Control; Mobile robots; Nonlinear observers; Control barrier; functions; Real time optimization and control;

D O I：

10.1016/j.ifacol.2023.10.751

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Pursuing a target in the presence of obstacles requires that an autonomous mobile robot keeps sight of the target in a way robust to the target's unknown behavior. This paper presents visually safe pursuit control, which keeps a target with the unknown motion inside the camera's field of view while preventing occlusion caused by spherical obstacles. Framed as forward invariance of sets in the SE(3) state space, visual safety is ensured by the Control Barrier Functions (CBFs) approach. Concretely, by showing the Input-to-State stability of the vision-based observer that estimates the target's motion, we design safety certificates for visual safety that accommodate uncertainties in the target's motion. This enables us to synthesize a safe controller as a Quadratic Programming problem. Finally, the theoretical results are verified via a simulation of a visual pursuit scenario. Copyright (c) 2023 The Authors.

引用

页码：10799 / 10804

页数：6

共 19 条

[11] Large-Scale Autonomous Flight With Real-Time Semantic SLAM Under Dense Forest Canopy
Liu, Xu
Nardari, Guilherme, V
Ojeda, Fernando Cladera
Tao, Yuezhan
Zhou, Alex
Donnelly, Thomas
Qu, Chao
Chen, Steven W.
Romero, Roseli A. F.
Taylor, Camillo J.
Kumar, Vijay
[J]. IEEE ROBOTICS AND AUTOMATION LETTERS, 2022, 7 (02) : 5512 - 5519
[12] Vision-Based Reactive Planning for Aggressive Target Tracking While Avoiding Collisions and Occlusions
Penin, Bryan
Giordano, Paolo Robuffo
Chaumette, Francois
[J]. IEEE ROBOTICS AND AUTOMATION LETTERS, 2018, 3 (04): : 3725 - 3732
[13] Cooperative visibility maintenance in SE(3) for multi-robot-networks with limited field-of-view sensors
Poonawala H.A.
Spong M.W.
[J]. Control Theory and Technology, 2017, 15 (4) : 246 - 257
[14] Fast Model Predictive Image-Based Visual Servoing for Quadrotors
Roque, Pedro
Bin, Elisa
Miraldo, Pedro
Dimarogonas, Dimos, V
[J]. 2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2020, : 7566 - 7572
[15] Constrained Image-Based Visual Servoing using Barrier Functions
Salehi, Iman
Rotithor, Ghananeel
Saltus, Ryan
Dani, Ashwin P.
[J]. 2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021), 2021, : 14254 - 14260
[16] Multidrone aerial surveys of penguin colonies in Antarctica
Shah, Kunal
Ballard, Grant
Schmidt, Annie
Schwager, Mac
[J]. SCIENCE ROBOTICS, 2020, 5 (47)
[17] Spong M. W., 2006, ROBOT MODELING CONTR, DOI DOI 10.1163/156855303322395172
[18] Wang YJ, 2022, P AMER CONTR CONF, P709, DOI 10.23919/ACC53348.2022.9867262
[19] Vision-based Localization and Robot-centric Mapping in Riverine Environments
Yang, Junho
Dani, Ashwin
Chung, Soon-Jo
Hutchinson, Seth
[J]. JOURNAL OF FIELD ROBOTICS, 2017, 34 (03) : 429 - 450

← 1 2 →