4 papers · 1 filter
Dynamic Collision Avoidance Using Velocity Obstacle-Based Control Barrier Functions
Jihao Huang, Jun Zeng, Xuemin Chi +3
Designing safety-critical controllers for acceleration-controlled unicycle robots is challenging, as control inputs may not appear in the constraints of control Lyapunov functions(…
GeoPro-VO: Dynamic Obstacle Avoidance with Geometric Projector Based on Velocity Obstacle
Jihao Huang, Xuemin Chi, Jun Zeng +2
Optimization-based approaches are widely employed to generate optimal robot motions while considering various constraints, such as robot dynamics, collision avoidance, and physical…
Whole-body Dynamic Collision Avoidance with Time-varying Control Barrier Functions
Jihao Huang, Xuemin Chi, Zhitao Liu +1
Recently, there has been increasing attention in robot research towards the whole-body collision avoidance. In this paper, we propose a safety-critical controller that utilizes tim…
Fast Path Planning for Autonomous Vehicle Parking with Safety-Guarantee using Hamilton-Jacobi Reachability
Xuemin Chi, Jun Zeng, Jihao Huang +2
We present a fast planning architecture called Hamilton-Jacobi-based bidirectional A* (HJBA*) to solve general tight parking scenarios. The algorithm is a two-layer composed of a h…