arXiv:2106.13176
Comparison between safety methods control barrier function vs. reachability analysis
Comparison between safety methods control barrier function vs. reachability analysis
著者: Zhichao Li
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
This report aims to compare two safety methods: control barrier function and Hamilton-Jacobi reachability analysis. We will consider the difference with a focus on the following aspects: generality of system dynamics, difficulty of construction and computation cost. A standard Dubins car model will be evaluated numerically to make the comparison more concrete.