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Safety-Critical Path Planning of Autonomous Surface Vehicles Based on Rapidly-Exploring Random Tree Algorithm and High Order Control Barrier Functions

Yihe Li, Zhouhua Peng, Lu Liu 0003, Haoliang Wang, Nan Gu, Anqing Wang, Dan Wang 0001. Safety-Critical Path Planning of Autonomous Surface Vehicles Based on Rapidly-Exploring Random Tree Algorithm and High Order Control Barrier Functions. In Fumin Zhang 0001, Lichuan Zhang, editors, 8th International Conference on Automation, Control and Robotics Engineering, CACRE 2023, Hong Kong, China, July 13-15, 2023. pages 203-208, IEEE, 2023. [doi]

Authors

Yihe Li

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Zhouhua Peng

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Lu Liu 0003

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Haoliang Wang

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Nan Gu

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Anqing Wang

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Dan Wang 0001

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