Safe Navigation in Human Occupied Environments Using Sampling and Control Barrier Functions
Keyvan Majd,Shakiba Yaghoubi,Tomoya Yamaguchi,Bardh Hoxha,Danil Prokhorov,Georgios Fainekos,Keyvan Majd,Shakiba Yaghoubi,Tomoya Yamaguchi,Bardh Hoxha,Danil Prokhorov,Georgios Fainekos
Sampling-based methods such as Rapidly-exploring Random Trees (RRTs) have been widely used for generating motion paths for autonomous mobile systems. In this work, we extend time-based RRTs with Control Barrier Functions (CBFs) to generate, safe motion plans in dynamic environments with many pedestrians. Our framework is based upon a human motion prediction model which is well suited for indoor na...
