Collision prevention control for two-wheeled vehicle robot influenced by stochastic vibration

Abstract

Autonomous mobile robots are being utilized in various locations such as factories, residential and commercial buildings, and farmlands, and the market for autonomous mobile robots is expanding. Safety is a critical requirement for autonomous mobile robots to avoid collisions with surrounding objects. In this paper, we propose a control scheme based on the distance between a two-wheeled vehicle robot and an obstacle for collision avoidance. We implement a control barrier function to assist in collision avoidance on an actual machine. Additionally, we place the actual machine on a vibration machine and run it under conditions where artificial irregular disturbances are generated. By using a control law based on a control barrier function for probabilistic systems, we demonstrate the safety that can be guaranteed against irregular disturbances.