论文标题
球体上的无碰撞运动协调：圆锥控制屏障函数方法
Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach
论文作者
论文摘要
这封信研究了一组球体上一组刚体的分布碰撞避免控制问题。首先制定了一个刚体网络，该网络由限制为球形表面和互连拓扑的多个刚体组成。在此公式中，显示在球体上的运动协调等于3维特殊正交组上的态度协调。然后，提出了一个基于角度的控制屏障函数，该功能可以在球形表面上处理地球距离约束。然后将所提出的控制屏障功能扩展到相对运动案例，并应用于在球体上运行的刚体网络的碰撞问题。每个刚体通过解决分布式优化问题来选择其控制输入，以实现标称分布式运动协调策略，同时满足避免碰撞的约束。拟议的无碰撞运动协调定律是通过模拟验证的。
This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is first formulated. In this formulation, it is shown that motion coordination on a sphere is equivalent to attitude coordination on the 3-dimensional Special Orthogonal group. Then, an angle-based control barrier function that can handle a geodesic distance constraint on a spherical surface is presented. The proposed control barrier function is then extended to a relative motion case and applied to a collision avoidance problem for a rigid body network operating on a sphere. Each rigid body chooses its control input by solving a distributed optimization problem to achieve a nominal distributed motion coordination strategy while satisfying constraints for collision avoidance. The proposed collision-free motion coordination law is validated via simulation.
