イブキ　タツヤ   IBUKI TATSUYA   伊吹　竜也    所属   明治大学  理工学部    職種   専任准教授
言語種別	英語
発行・発表の年月	2024
形態種別	学術雑誌
査読	査読あり
標題	Collision Avoidance for Ellipsoidal Rigid Bodies with Control Barrier Functions Designed from Rotating Supporting Hyperplanes
執筆形態	共著(筆頭者以外)
掲載誌名	IEEE Transactions on Control Systems Technology
掲載区分	国外
出版社・発行元	The Institute of Electrical and Electronics Engineers (IEEE)
総ページ数	17
著者・共著者	Riku Funada, Kouju Nishimoto, Tatsuya Ibuki, Mitsuji Sampei
概要	This article proposes a collision avoidance method for ellipsoidal rigid bodies that utilizes a control barrier function (CBF) designed from a supporting hyperplane. We formulate the problem in the special Euclidean groups SE(2) and SE(3), where the kinematics are described as rigid body motion. The designed CBF is integrated into a quadratic programming problem, where each rigid body calculates its collision-free input in a distributed manner, given communication among rigid bodies. We exemplify that our method can be extended to other kinematic models. The proposed method is demonstrated through simulation results.