Sökning: "diskret tid Kontrollbarriärfunktion"

Hittade 1 uppsats innehållade orden diskret tid Kontrollbarriärfunktion.

  1. 1. An input-sample method for zonotopic obstacle avoidance with discrete-time control barrier functions

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Xiong Xiong; [2022]
    Nyckelord :Control barrier functions; RRT; Discrete-time Control barrier function; Input sample; Kontrollbarriärfunktion; RRT; diskret tid Kontrollbarriärfunktion; inmatningsprov;

    Sammanfattning : In this thesis, we consider the motion planning problem for an autonomous vehicle in an obstacle-cluttered environment approximated by zonotopes, and we propose an input sampling algorithm leveraging discrete-time control barrier function conditions (DCBF). Specifically, an optimization-based control barrier function that takes into account the geometric shapes of the vehicle and obstacles is constructed and verified. LÄS MER