Safety-Critical Path Planning of Autonomous Surface Vehicles Based on Rapidly-Exploring Random Tree Algorithm and High Order Control Barrier Functions.
Yihe LiZhouhua PengLu LiuHaoliang WangNan GuAnqing WangDan WangPublished in: CACRE (2023)
Keyphrases
- path planning
- high order
- autonomous vehicles
- obstacle avoidance
- unmanned aerial vehicles
- multi robot
- dynamic environments
- path planning algorithm
- mobile robot
- optimal path
- configuration space
- autonomous navigation
- collision avoidance
- cooperative
- robotic systems
- path finding
- tensor analysis
- path planner
- safety critical
- decision making
- aerial vehicles
- multiple targets
- motion planning
- distributed systems
- low cost
- objective function