Abstract:Safe control in unknown environments is a key challenge in mobile robotics. Control Barrier Functions (CBFs) provide a principled framework for guaranteeing safety constraint satisfaction. State-of-the-art CBF approaches assume either known environments with predefined obstacles, or rely only on obstacles currently within the robot's Field of View (FoV). However, practical robots in a priori unknown environments can observe their surroundings only partially, and therefore can violate safety due to limited FoV, sensor range, or occlusion. This paper incorporates the memory of a priori observed obstacles of arbitrary shape that have left the robot's FoV into the CBF safe control. In particular, we couple the Signed Distance Function (SDF)-based CBF formulation to an occupancy grid map built online during the system's operation. Furthermore, the lack of steering authority induced by the SDF gradient degeneracy when facing obstacles head-on is addressed by employing image pyramid over the SDF, yielding a multi-level CBF. The efficacy of the proposed approach is evaluated against memory unaware baselines in the CARLA simulator. Moreover, we demonstrate the generalizability of the proposed approach in real deployments on a small warehouse robot and a large, articulated frame steering autonomous wheel loader.
From: Golnaz Raja [view email]
[v1]
Fri, 17 May 2024 11:22:36 UTC (9,148 KB)
[v2]
Tue, 21 May 2024 07:01:35 UTC (9,148 KB)
[v3]
Fri, 13 Sep 2024 15:09:52 UTC (20,743 KB)
[v4]
Mon, 29 Jun 2026 15:18:57 UTC (7,179 KB)
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