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Safety Embedded Differential Dynamic Programming Using Discrete Barrier States
- Source :
- IEEE Robotics and Automation Letters. 7:2755-2762
- Publication Year :
- 2022
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2022.
-
Abstract
- Certified safe control is a growing challenge in robotics, especially when performance and safety objectives must be concurrently achieved. In this work, we extend the barrier state (BaS) concept, recently proposed for safe stabilization of continuous time systems, to safety embedded trajectory optimization for discrete time systems using discrete barrier states (DBaS). The constructed DBaS is embedded into the discrete model of the safety-critical system integrating safety objectives into the system's dynamics and performance objectives. Thereby, the control policy is directly supplied by safety-critical information through the barrier state. This allows us to employ the DBaS with differential dynamic programming (DDP) to plan and execute safe optimal trajectories. The proposed algorithm is leveraged on various safety-critical control and planning problems including a differential wheeled robot safe navigation in randomized and complex environments and on a quadrotor to safely perform reaching and tracking tasks. The DBaS-based DDP (DBaS-DDP) is shown to consistently outperform penalty methods commonly used to approximate constrained DDP problems as well as CBF-based safety filters.<br />Comment: Added extensive quantitative comparisons and analysis in the implementation examples, and revised discussions and illustrations
- Subjects :
- FOS: Computer and information sciences
Control and Optimization
Mechanical Engineering
Biomedical Engineering
Systems and Control (eess.SY)
Electrical Engineering and Systems Science - Systems and Control
Computer Science Applications
Human-Computer Interaction
Computer Science - Robotics
Artificial Intelligence
Control and Systems Engineering
FOS: Electrical engineering, electronic engineering, information engineering
Computer Vision and Pattern Recognition
Robotics (cs.RO)
Subjects
Details
- ISSN :
- 23773774
- Volume :
- 7
- Database :
- OpenAIRE
- Journal :
- IEEE Robotics and Automation Letters
- Accession number :
- edsair.doi.dedup.....a477962253bb5861219f6feedb80edb9