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arXiv · 2004.01858

Tractable Compositions of Discrete-Time Control Barrier Functions with Application to Lane Keeping and Obstacle Avoidance

Matthew Cavorsi·Mohammad Khajenejad·Ruochen Niu·Qiang Shen·Sze Zheng Yong
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Abstract

This paper introduces control barrier functions for discrete-time systems, which can be shown to be necessary and sufficient for controlled invariance of a given set. Moreover, we propose nonlinear discrete-time control barrier functions for partially control affine systems that lead to controlled invariance conditions that are affine in the control input, leading to a tractable formulation that enables us to handle the safety optimal control problem for a broader range of applications with more complicated safety conditions than existing approaches. In addition, we develop mixed-integer formulations for basic and secondary Boolean compositions of multiple control barrier functions and further provide mixed-integer constraints for piecewise control barrier functions. Finally, we apply these discrete-time control barrier function tools to automotive safety problems of lane keeping and obstacle avoidance, which are shown to be effective in simulation.

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Matthew Cavorsi, Mohammad Khajenejad, Ruochen Niu, Qiang Shen, Sze Zheng Yong. 2020-04-04. Tractable Compositions of Discrete-Time Control Barrier Functions with Application to Lane Keeping and Obstacle Avoidance. https://arxiv.org/abs/2004.01858

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