制御バリア関数に基づくロボットの安全性を考慮した球面上での持続的被覆制御

抄録

This paper proposes a persistent coverage control method on a sphere, taking robot safety into account based on control barrier functions. First, we present a persistent coverage control on a sphere, which dynamically changes the arrangement of multiple robots with a limited-range sensor. Second, we also consider the safety of the robots on the sphere by using control barrier functions that guarantee energy management and collision avoidance. Furthermore, the safety-aware persistent coverage control is reduced to a quadratic programming problem using the control barrier functions, and optimization-based control law is proposed. Finally, the effectiveness of the proposed control method is demonstrated by simulation.