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

^*此作品的通讯作者

宇航学院

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

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.

源语言	英语
主期刊名	Proceedings of 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023
出版商	Institute of Electrical and Electronics Engineers Inc.
页	1299-1304
页数	6
ISBN（电子版）	9798350315196
DOI	https://doi.org/10.1109/CYBER59472.2023.10256643
出版状态	已出版 - 2023
活动	13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023 - Qinhuangdao, 中国期限: 11 7月 2023 → 14 7月 2023

出版系列

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

会议

会议	13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023
国家/地区	中国
市	Qinhuangdao
时期	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. 在 Proceedings of 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023 (页码 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 等. / 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. 页码 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. 在 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., 页码 1299-1304, 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023, Qinhuangdao, 中国, 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 等.
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. 页码 1299-1304 (Proceedings of 13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

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.

UR - http://www.scopus.com/inward/record.url?scp=85174698265&partnerID=8YFLogxK

U2 - 10.1109/CYBER59472.2023.10256643

DO - 10.1109/CYBER59472.2023.10256643

M3 - Conference contribution

AN - SCOPUS:85174698265

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

SP - 1299

EP - 1304

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

ER -

Yi S, He X, Wang C, Dong W, Wang J. Formation Tracking Control with Obstacle Avoidance Using Level-Set-Based Control Barrier Function. 在 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. 页码 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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