基于控制屏障功能的两轮车机器人避碰辅助控制

2018 International Automatic Control Conference (CACS) Pub Date : 2018-11-01 DOI:10.1109/CACS.2018.8606761

Motoi Igarashi, Hisakazu Nakamura

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引用次数: 9

摘要

人工辅助控制是一种由人工操作人员驱动的系统，已引起人们的广泛关注。此外，还提出了一种利用控制障碍函数的二次规划方法。采用控制屏障功能的人工辅助控制，保证了系统的安全性;然而，在安全输入中，控制是最小的。在本研究中，我们提出了一种利用控制障碍函数对两轮移动机器人进行人类辅助控制的方法。通过计算机仿真验证了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Collision avoidance assist control for two-wheel vehicle robots by control barrier function

Human assist control for a system driven by a human operator has attracted much attention. Also, a quadratic programming method using a control barrier function has been proposed. The human assist control using the control barrier function guarantees the safety of the system; however, the control is the minimum among safety inputs. In this research, we propose a method of human assist control for a two-wheel mobile robot using a control barrier function. The effectiveness of the method was demonstrated in a computer simulation.

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来源期刊

2018 International Automatic Control Conference (CACS)

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