Huahui Xie

Adaptive High-Order Control Barrier Function-Based Iterative LQR for Real Time Safety-Critical Motion Planning

This letter proposes an adaptive high-order control barrier function-based iterative linear quadratic regulator (AHOCBF-ILQR) algorithm for real time safety-critical motion planning. Firstly, we propose a HOCBF-ILQR method, where a HOCBF-based controller is designed as a safety filter of ILQR to gua