| 초록 |
—Ensuring safe trajectory planning of autonomous mobile robots in environments with static and dynamic obstacles is a critical challenge for real-world deployment. Existing approaches, such as nonlinear predictive control (NMPC) with control barrier functions (CBFs), can provide safety guarantees. However, their computational complexity scales with the prediction horizon, which can hinder real-world feasibility. We propose an NMPC algorithm that combines discrete-time CBFs with Bernstein polynomial parameterization. By constraining a constant number of Bernstein control points within a dynamically generated safe corridor, the entire trajectory is guaranteed to remain forward invariant within the safe set. It also significantly reduces computational complexity compared to conventional approaches. Simulation results in both static and dynamic obstacle environments demonstrate that it achieves a high success rate while maintaining similar safety margins to existing baselines. At the same time, computation time is reduced by between 60% and 90%, depending on the scenario, and it remains nearly constant even as the prediction horizon increases. These results demonstrate the efficiency, robustness, and scalability of the proposed approach for safe trajectory planning in diverse scenarios.
|