In this paper, the authors propose a novel approach for avoiding collisions between a robot and its environment using a control Lyapunov function (CLF) and control barrier functions (CBFs). The proposed method is based on a Robo-centric ESDF (RC-ESDF), which is used to calculate the closest distance between the collision points and the robot’s surface.
The authors begin by defining the problem formulation, where they describe the dynamics of the robot and introduce the concepts of CLF, CBF, and RC-ESDF. They explain that these concepts are crucial for avoiding collisions in robotic systems.
To demonstrate the effectiveness of their approach, the authors consider a robot with a single integral model moving in an L-shaped environment with two obstacles. They show that by utilizing the RC-ESDF value, they can guide the robot to its destination while avoiding collisions. The authors also highlight the advantages of their method, including real-time computation and robustness against uncertainty.
Throughout the article, the authors use everyday language and engaging metaphors or analogies to demystify complex concepts. For instance, they explain that RC-ESDF can be thought of as a "distance meter" that measures the closest distance between the collision points and the robot’s surface. They also use examples to illustrate how their method works in practice.
Overall, the authors present a clear and concise summary of their work, highlighting its key contributions and advantages. The article provides a thorough overview of the proposed approach without oversimplifying the complex concepts involved.
Whole-Body Collision Avoidance for Any-Shaped Robots with Control Barrier Functions
