FLASH-CBF-RRT：リプシッツ適応型安全ホライズンCBFステアリングによる高速動作計画
FLASH-CBF-RRT: Fast Lipschitz-Adaptive Safe Horizon CBF Steering for Certified Motion Planning
CBF制約付き速度を安全に一定適用できる時間ホライズンを閉形式で算出し、障害物近傍では短く開空間では長い適応的ステップでRRTの局所ステアリングを高速化した手法。
著者: Mani Amani, Hesam Mojtahedi, Reza Akhavian, Nikolay Atanasov, Ki Myung Brian Lee
分類: cs.RO
原文アブストラクト
Fast motion planning requires both sample-efficient exploration and computationally efficient local steering. Conventional straight-line steering is inexpensive but wastes samples by rejecting colliding extensions. Quadratic program controllers with control barrier function (CBF) constraints can be used to achieve effective local steering but can increase the planning time due to the expensive sequential evaluations. We develop a method to accelerate CBF steering by computing a time horizon within which CBF-filtered velocity may be applied constantly using closed-form kinematic bounds on collision-clearance. Our method, FLASH-CBF-RRT, significantly reduces the number of evaluations compared to prior CBF-RRT approaches because the planner can take adaptive steering step sizes that are shorter near obstacles and longer in open space. We implement this steering procedure as an extension of RRT-Connect in OMPL. Across 689 MotionBenchMaker problems, FLASH-CBF-RRT matches RRT-Connect's 100% success rate while reducing median planning time by 3.82x, and is 3.88x faster than fixed-step CBF-RRT. Hardware experiments on a 17-DoF mobile manipulator demonstrate 2.2x faster planning and 4.2x fewer evaluations. Videos and results are available at: https://mamani828.github.io/FLASH-CBF-RRT/.