Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions.
Bolun DaiRooholla KhorrambakhtPrashanth KrishnamurthyVinícius GonçalvesAnthony TzesFarshad KhorramiPublished in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
- obstacle avoidance
- autonomous vehicles
- mobile robot
- path planning
- space exploration
- fuzzy logic controller
- trajectory planning
- visual navigation
- potential field
- optimization algorithm
- robot control
- motion planning
- visually guided
- unknown environments
- control system
- global optimization
- autonomous robots
- route selection
- robotic systems
- control strategy
- artificial intelligence
- multi objective
- collision avoidance
- pid controller
- outdoor environments
- autonomous navigation
- route planning
- degrees of freedom
- dynamic environments
- computational intelligence
- fuzzy logic
- objective function
- computer vision