cbf_vel_control.mp4
The algorithm was successfully implemented in a real car.
cbf_realcar.mp4
-
- version 3.10 or higher is recommended.
-
- seting up python environment easily and safely.
- only
numpy
,matplotlib
,notebook
are needed to run all scripts in this repository.
-
-
mp4 movie writer
-
git clone https://github.com/MizuhoAOKI/control_barrier_function.git
cd control_barrier_function
poetry install
- Run simulation
cd control_barrier_function poetry run python scripts/cbf_vel_control.ipynb
- Peter Wieland and Frank Allgöwer, "CONSTRUCTIVE SAFETY USING CONTROL BARRIER FUNCTIONS"
- Aaron D. Ames, et al. "Control Barrier Functions: Theory and Applications"