制御バリア関数による移動ロボットの転倒防止：微分器ベース適応と状態射影安全
Rollover Prevention for Mobile Robots with Control Barrier Functions: Differentiator-Based Adaptation and Projection-to-State Safety
移動ロボットの転倒防止のため、ゼロモーメントポイント条件を制御バリア関数で扱い、時変・ノイズを含むパラメータを微分器で推定しつつ厳密な安全保証を与える手法を提案し、急斜面での実験で有効性を示した。
著者: Ersin Das, Aaron D. Ames, Joel W. Burdick
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
This paper develops rollover prevention guarantees for mobile robots using control barrier function (CBF) theory, and demonstrates the method experimentally. We consider a safety measure based on a zero moment point condition through the lens of CBFs. However, these conditions depend on time-varying and noisy parameters. To address this issue, we present a differentiator-based safety-critical controller that estimates these parameters and pairs Input-to-State Stable (ISS) differentiator dynamics with CBFs to achieve rigorous safety guarantees. Additionally, to ensure safety in the presence of disturbances, we utilize a time-varying extension of Projection-to-State Safety (PSSf). The effectiveness of the proposed method is demonstrated via experiments on a tracked robot with a rollover potential on steep slopes.
関連論文
- 可変構造制御による移動ロボットの安全拡張運用移動ロボット安全制御
