Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression
Chengyang Peng,Octavian Donca,Guillermo Castillo,Ayonga Hereid,Chengyang Peng,Octavian Donca,Guillermo Castillo,Ayonga Hereid
Safe path planning is critical for bipedal robots to operate in safety-critical environments. Common path planning algorithms, such as RRT or RRT*, typically use geometric or kinematic collision check algorithms to ensure collision-free paths toward the target position. However, such approaches may generate non-smooth paths that do not comply with the dynamics constraints of walking robots. It has...
