Trajectory Tracking with Velocity Constraints Using Control Barrier Functions
Luis Guerrero-Bonilla, Vijay R. Kumar · 2019
This paper presents control strategies to ensure that the tangential velocity of a robot, which is commanded to move in a trajectory with a constant offset from a reference curve, is bounded within a specified range. This is achieved at the expense of adjusting the distance between the robot and the curve. The strategies are based on zeroing control barrier functions and minimum norm control inputs, which ensure the satisfaction of constraints while only deviating from the nominal trajectory when necessary. Control laws for curves on a plane and in 3D space are presented, using the Frenet-Serret and Bishop frames to specify the desired trajectory of the robots. We illustrate our results through simulations.