制御バリア関数を用いた移動マニピュレータの構成認識型安全制御
Configuration-Aware Safe Control for Mobile Robotic Arm with Control Barrier Functions
移動マニピュレータのリンク間の幾何学的制約を制御バリア関数に組み込み、QPで安全な制御則を解くことで障害物を避けつつ目標領域へ誘導する手法を提案した。
著者: Fan Ding, Han Wang, Jianping He, Yi Ren, Yu Zheng
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Collision avoidance is a widely investigated topic in robotic applications. When applying collision avoidance techniques to a mobile robot, how to deal with the spatial structure of the robot still remains a challenge. In this paper, we design a configuration-aware safe control law by solving a Quadratic Programming (QP) with designed Control Barrier Functions (CBFs) constraints, which can safely navigate a mobile robotic arm to a desired region while avoiding collision with environmental obstacles. The advantage of our approach is that it correctly and in an elegant way incorporates the spatial structure of the mobile robotic arm. This is achieved by merging geometric restrictions among mobile robotic arm links into CBFs constraints. Simulations on a rigid rod and the modeled mobile robotic arm are performed to verify the feasibility and time-efficiency of proposed method. Numerical results about the time consuming for different degrees of freedom illustrate that our method scales well with dimension.
