الملخص
Control barrier functions (CBFs) provide a mathematically grounded framework for enforcing local collision-avoidance constraints in autonomous mobile robots, commonly through optimization-based safety filters. However, a minimum-intervention CBF filter lacks task-level maneuver awareness and may fail to select a productive avoidance direction when multiple distinct maneuvers are locally viable, leading to safe but stalled behavior in geometrically ambiguous environments. This paper presents BIG-CBF, Behavior-Imagination-Guided Control Barrier Function with shared uncertainty, a two-rate navigation architecture that separates low-rate maneuver selection from high-rate safety filtering. Over a short horizon, six closed-loop feedback behaviors are imagined and evaluated using analytic CBF compatibility together with a lightweight objective accounting for task progress, freezing, smoothness, and switching. To reduce planning-execution mismatch, the imagination and execution layers share consistent uncertainty sources for relative-motion delay, obstacle prediction, zero-order-hold motion, and command-execution residuals, while a hard CBF remains the final safety authority. In a 3,600-episode comparative benchmark across nine scenarios, BIG-CBF achieves the highest overall task success rate of 99.78% while substantially reducing downstream CBF intervention. On a physical omnidirectional robot with onboard Jetson Orin Nano computation, BIG-CBF completes all 15 evaluation runs without a recorded contact event. Matched hardware comparisons against the non-shared variant further show lower CBF intervention energy and activation frequency, supporting improved consistency between maneuver selection and safety-critical execution.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Li, S., Wang, Z., Cao, J., Yang, J., & Wu, K. (2026). BIG-CBF: Behavior-Imagination-Guided Control Barrier Function with Shared Uncertainty for Mobile Robot Navigation. https://omanscience.com/ar/articles/big-cbf-behavior-imagination-guided-control-barrier-function-with-shared-uncertainty-for-mobile-robot-navigation
MLA 9
Li, Shibo, et al. "BIG-CBF: Behavior-Imagination-Guided Control Barrier Function with Shared Uncertainty for Mobile Robot Navigation." https://omanscience.com/ar/articles/big-cbf-behavior-imagination-guided-control-barrier-function-with-shared-uncertainty-for-mobile-robot-navigation.
شيكاغو (المؤلف–التاريخ)
Li, Shibo, Zhongcheng Wang, Jiahe Cao, Jianhua Yang, and Ke Wu. 2026. "BIG-CBF: Behavior-Imagination-Guided Control Barrier Function with Shared Uncertainty for Mobile Robot Navigation." https://omanscience.com/ar/articles/big-cbf-behavior-imagination-guided-control-barrier-function-with-shared-uncertainty-for-mobile-robot-navigation.
هارفارد
Li, S., Wang, Z., Cao, J., Yang, J. and Wu, K. (2026) 'BIG-CBF: Behavior-Imagination-Guided Control Barrier Function with Shared Uncertainty for Mobile Robot Navigation', Available at: https://omanscience.com/ar/articles/big-cbf-behavior-imagination-guided-control-barrier-function-with-shared-uncertainty-for-mobile-robot-navigation.
فانكوفر
Li S, Wang Z, Cao J, Yang J, Wu K. BIG-CBF: Behavior-Imagination-Guided Control Barrier Function with Shared Uncertainty for Mobile Robot Navigation. https://omanscience.com/ar/articles/big-cbf-behavior-imagination-guided-control-barrier-function-with-shared-uncertainty-for-mobile-robot-navigation
IEEE
S. Li, Z. Wang, J. Cao, J. Yang, and K. Wu, "BIG-CBF: Behavior-Imagination-Guided Control Barrier Function with Shared Uncertainty for Mobile Robot Navigation," https://omanscience.com/ar/articles/big-cbf-behavior-imagination-guided-control-barrier-function-with-shared-uncertainty-for-mobile-robot-navigation.