Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions
Akshay Thirugnanam,Jun Zeng,Koushil Sreenath,Akshay Thirugnanam,Jun Zeng,Koushil Sreenath
Obstacle avoidance between polytopes is a chal-lenging topic for optimal control and optimization-based tra-jectory planning problems. Existing work either solves this problem through mixed-integer optimization, relying on simpli-fication of system dynamics, or through model predictive control with dual variables using distance constraints, requiring long horizons for obstacle avoidance. In either...
