Formation Tracking Control with Obstacle Avoidance Using Level-Set-Based Control Barrier Function

Shaopeng Yi; Xiaolong He; Chunyan Wang; Wei Dong; Jianan Wang

doi:10.1109/CYBER59472.2023.10256643

Formation Tracking Control with Obstacle Avoidance Using Level-Set-Based Control Barrier Function

Shaopeng Yi, Xiaolong He, Chunyan Wang^*, Wei Dong, Jianan Wang

^*Corresponding author for this work

School of Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, the formation tracking problem with obstacle avoidance is investigated for double-integrator systems. First, a baseline controller is provided to achieve the formation tracking mission. Then, a level-set-based control barrier function (LSCBF) is developed to avoid obstacles with complex shapes. Moreover, combining the baseline controller and the LSCBF together, the formation tracking controller with guaranteed safety is obtained by solving a quadratic programming problem. Finally, numerical simulations demonstrate the effectiveness of the proposed results.

Original language	English
Title of host publication	Proceedings of 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1299-1304
Number of pages	6
ISBN (Electronic)	9798350315196
DOIs	https://doi.org/10.1109/CYBER59472.2023.10256643
Publication status	Published - 2023
Event	13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023 - Qinhuangdao, China Duration: 11 Jul 2023 → 14 Jul 2023

Publication series

Name	Proceedings of 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023

Conference

Conference	13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023
Country/Territory	China
City	Qinhuangdao
Period	11/07/23 → 14/07/23

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10.1109/CYBER59472.2023.10256643

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Yi, S., He, X., Wang, C., Dong, W., & Wang, J. (2023). Formation Tracking Control with Obstacle Avoidance Using Level-Set-Based Control Barrier Function. In Proceedings of 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023 (pp. 1299-1304). (Proceedings of 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CYBER59472.2023.10256643

Yi, Shaopeng ; He, Xiaolong ; Wang, Chunyan et al. / Formation Tracking Control with Obstacle Avoidance Using Level-Set-Based Control Barrier Function. Proceedings of 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 1299-1304 (Proceedings of 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023).

@inproceedings{5a18f7c09730498cb75ec82af98bb7c8,

title = "Formation Tracking Control with Obstacle Avoidance Using Level-Set-Based Control Barrier Function",

abstract = "In this paper, the formation tracking problem with obstacle avoidance is investigated for double-integrator systems. First, a baseline controller is provided to achieve the formation tracking mission. Then, a level-set-based control barrier function (LSCBF) is developed to avoid obstacles with complex shapes. Moreover, combining the baseline controller and the LSCBF together, the formation tracking controller with guaranteed safety is obtained by solving a quadratic programming problem. Finally, numerical simulations demonstrate the effectiveness of the proposed results.",

author = "Shaopeng Yi and Xiaolong He and Chunyan Wang and Wei Dong and Jianan Wang",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023 ; Conference date: 11-07-2023 Through 14-07-2023",

year = "2023",

doi = "10.1109/CYBER59472.2023.10256643",

language = "English",

series = "Proceedings of 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1299--1304",

booktitle = "Proceedings of 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023",

address = "United States",

}

Yi, S, He, X, Wang, C, Dong, W & Wang, J 2023, Formation Tracking Control with Obstacle Avoidance Using Level-Set-Based Control Barrier Function. in Proceedings of 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023. Proceedings of 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023, Institute of Electrical and Electronics Engineers Inc., pp. 1299-1304, 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023, Qinhuangdao, China, 11/07/23. https://doi.org/10.1109/CYBER59472.2023.10256643

Formation Tracking Control with Obstacle Avoidance Using Level-Set-Based Control Barrier Function. / Yi, Shaopeng; He, Xiaolong; Wang, Chunyan et al.
Proceedings of 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 1299-1304 (Proceedings of 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Formation Tracking Control with Obstacle Avoidance Using Level-Set-Based Control Barrier Function

AU - Yi, Shaopeng

AU - He, Xiaolong

AU - Wang, Chunyan

AU - Dong, Wei

AU - Wang, Jianan

PY - 2023

Y1 - 2023

N2 - In this paper, the formation tracking problem with obstacle avoidance is investigated for double-integrator systems. First, a baseline controller is provided to achieve the formation tracking mission. Then, a level-set-based control barrier function (LSCBF) is developed to avoid obstacles with complex shapes. Moreover, combining the baseline controller and the LSCBF together, the formation tracking controller with guaranteed safety is obtained by solving a quadratic programming problem. Finally, numerical simulations demonstrate the effectiveness of the proposed results.

AB - In this paper, the formation tracking problem with obstacle avoidance is investigated for double-integrator systems. First, a baseline controller is provided to achieve the formation tracking mission. Then, a level-set-based control barrier function (LSCBF) is developed to avoid obstacles with complex shapes. Moreover, combining the baseline controller and the LSCBF together, the formation tracking controller with guaranteed safety is obtained by solving a quadratic programming problem. Finally, numerical simulations demonstrate the effectiveness of the proposed results.

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DO - 10.1109/CYBER59472.2023.10256643

M3 - Conference contribution

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T3 - Proceedings of 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023

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BT - Proceedings of 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023

Y2 - 11 July 2023 through 14 July 2023

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Yi S, He X, Wang C, Dong W, Wang J. Formation Tracking Control with Obstacle Avoidance Using Level-Set-Based Control Barrier Function. In Proceedings of 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 1299-1304. (Proceedings of 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023). doi: 10.1109/CYBER59472.2023.10256643

Formation Tracking Control with Obstacle Avoidance Using Level-Set-Based Control Barrier Function

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