A Control Barrier Function-based Motion Planning Scheme for a Quadruped Robot

Halil Utku Unlu; Vinicius Mariano Gonçalves; Dimitris Chaikalis; Anthony Tzes; Farshad Khorrami

ICRA 2024poster6 citations

A Control Barrier Function-based Motion Planning Scheme for a Quadruped Robot

Halil Utku Unlu, Vinicius Mariano Gonçalves, Dimitris Chaikalis, Anthony Tzes, Farshad Khorrami

Abstract

A Control Barrier Function (CBF)-based motion planning algorithm is proposed. The algorithm explores an unknown environment to reach a target point, providing velocity commands to the robot controller module. CBFs, along with a circulation inequality are used to generate safe paths toward the goal while preventing collisions with obstacles. The proposed global navigation scheme is experimentally verified on a quadruped platform to demonstrate safe, collision-free exploration over long distances.

BibTeX

@inproceedings{icra2024_acontrolbarrierf,
  title = {A Control Barrier Function-based Motion Planning Scheme for a Quadruped Robot},
  author = {Halil Utku Unlu and Vinicius Mariano Gonçalves and Dimitris Chaikalis and Anthony Tzes and Farshad Khorrami},
  booktitle = {ICRA 2024},
  year = {2024}
}