Fast, Smooth, and Safe: Implicit Control Barrier Functions Through Reach-Avoid Differential Dynamic Programming

Athindran Ramesh Kumar, Kai Chieh Hsu, Peter J. Ramadge, Jaime F. Fisac

Research output: Contribution to journalArticlepeer-review

Abstract

Safety is a central requirement for autonomous system operation across domains. Hamilton-Jacobi (HJ) reachability analysis can be used to construct 'least-restrictive' safety filters that result in infrequent, but often extreme, control overrides. In contrast, control barrier function (CBF) methods apply smooth control corrections to guard the system against an often conservative safety boundary. This letter provides an online scheme to construct an implicit CBF through HJ reach-avoid differential dynamic programming in a receding-horizon framework, enabling smooth safety filtering with infinite-time safety guarantees. Simulations with the Dubins car and 5D bicycle dynamics demonstrate the scheme's ability to preserve safety smoothly without the conservativeness of handcrafted CBFs.

Original languageEnglish (US)
Pages (from-to)2994-2999
Number of pages6
JournalIEEE Control Systems Letters
Volume7
DOIs
StatePublished - 2023
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Optimization
  • Control and Systems Engineering

Keywords

  • Autonomous systems
  • control barrier functions
  • reach-avoid analysis

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