Control Barrier Function Example

cbf_vel_control.mp4

The algorithm was successfully implemented in a real car.

(Once the obstacle is removed, the vehicle automatically restarts moving forward.)

cbf_realcar.mp4

Dependency

• python

  • version 3.10 or higher is recommended.

• poetry

  • seting up python environment easily and safely.
  • only numpy, matplotlib, notebook are needed to run all scripts in this repository.

• ffmpeg

  • mp4 movie writer

  • installation details

    • For Ubuntu Users
      • sudo apt-get update
      • sudo apt-get -y install ffmpeg
    • For Windows Users
      • Install scoop
      • scoop install ffmpeg
    • For macOS Users
      • Install homebrew
      • brew install ffmpeg
    • Check the official website if necessary
      • https://ffmpeg.org/

Setup

git clone https://github.com/MizuhoAOKI/control_barrier_function.git
cd control_barrier_function
poetry install

Usage

Collision-Avoidance Velocity Control

• Run simulation

  cd control_barrier_function
  poetry run jupyter notebook notebooks/cbf_vel_control.ipynb

References

Papers

1. Peter Wieland and Frank Allgöwer, "CONSTRUCTIVE SAFETY USING CONTROL BARRIER FUNCTIONS"
   • URL : https://www.sciencedirect.com/science/article/pii/S1474667016355690
2. Aaron D. Ames, et al. "Control Barrier Functions: Theory and Applications"
   • URL : http://ames.caltech.edu/ames2019control.pdf

Articles

1. https://qiita.com/seria_hina/items/afd96b930ade860926bc