Safety-Critical Guidance Subject to Dynamic Obstacle Based on High-Order Robust Time-Varying Control Barrier Function

This paper focuses on safety critical guidance subject to dynamic obstacle for interceptors while pursuing their evaders. The guidance kinematic equations are formulated in the presence of moving obstacles. We propose a new robust higher-order time-varying control barrier functions (HoTvCBF) approac...

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Bibliographic Details
Published inChinese Control Conference pp. 3894 - 3899
Main Authors Peng, Chi, Lv, Xinyuan, Guo, Yu, Ma, Jianjun
Format Conference Proceeding
LanguageEnglish
Published Technical Committee on Control Theory, Chinese Association of Automation 28.07.2024
Subjects
Collision avoidance
Control barrier function
Disturbance observers
dynamic obstacles
Extended disturbance observer
Kinematics
Navigation
Safety
Safety critical guidance
Uncertainty
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Summary:This paper focuses on safety critical guidance subject to dynamic obstacle for interceptors while pursuing their evaders. The guidance kinematic equations are formulated in the presence of moving obstacles. We propose a new robust higher-order time-varying control barrier functions (HoTvCBF) approach to enforce safety requirements in the presence of these uncertainties of dynamic obstacles. A convex optimization-based guidance law is constructed using the proposed robust HoTvCBF to achieve obstacle avoidance capability. Properties of proposed guidance strategy is studied and a numerical example is provided to illustrate the effectiveness of this approach.
ISSN:1934-1768
DOI:10.23919/CCC63176.2024.10662345