The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2024
Session ID : 1A1-E09
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Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : May 29, 2024 - June 01, 2024

Evaluation of the Effectiveness of Asymmetric Decentralized Control Barrier Function for Autonomous Mobile Robots
*Kanon YOKOI, Yusei ORIGANE, Daisuke KURABAYASHI
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Keywords: Autonomous mobile robot, Collision avoidance, Autonomous decentralized control
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Abstract

We apply Asymmetric Decentralized Control Barrier Functions (Asymmetric CBF) to the collision avoidance problem in swarm robot control, and conduct collision avoidance experiments introducing symmetric CBF and Asymmetric CBF using a fully autonomous robot that carries all sensors on itself to verify the effectiveness of Asymmetric CBF in real environments.

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© 2024 The Japan Society of Mechanical Engineers
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