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

• Published in: Chinese Control Conference pp. 3894 - 3899
• Main Authors: Peng, Chi, Lv, Xinyuan, Guo, Yu, Ma, Jianjun
• Format: Conference Proceeding
• Language: English
• 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
• DOI: 10.23919/CCC63176.2024.10662345

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.