モデルフリー安全臨界制御：ロボットシステムへの応用
Model-Free Safety-Critical Control for Robotic Systems
制御バリア関数に基づき、高精度な力学モデルなしで安全速度を生成し追従制御するモデルフリー安全臨界制御を提案し、セグウェイ・ドローン・四足ロボットで障害物回避を実証した。
著者: Tamas G. Molnar, Ryan K. Cosner, Andrew W. Singletary, Wyatt Ubellacker, Aaron D. Ames
分類: cs.RO, cs.SY, eess.SY, math.DS
原文アブストラクト
This paper presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthesize a safe velocity based on control barrier function theory without relying on a -- potentially complicated -- high-fidelity dynamical model of the robot. Then, we track the safe velocity with a tracking controller. This culminates in model-free safety critical control. We prove theoretical safety guarantees for the proposed method. Finally, we demonstrate that this approach is application-agnostic. We execute an obstacle avoidance task with a Segway in high-fidelity simulation, as well as with a Drone and a Quadruped in hardware experiments.
