Steering Assist Control for Vehicle Type Mobile Robot in Local Absolute Coordinate

Abstract

Human-assisted control using the Control Barrier Function (CBF) for nonlinear control systems such as two-wheeled and four-wheeled vehicles has been extensively studied in recent years. However, the effectiveness is only demonstrated in straight-line experiments, not steering ones. Further, it is not easy to design steering assist using the conventional method. In this paper, we design a control barrier function using the system resuscitation transformation proposed by Takai et al. and design steering assist control law with smooth assist characteristics for vehicle-type mobile robots. Then, a local absolute coordinate system is introduced to measure the positions of obstacles and robots. Finally, a steering assist control system is proposed based on the data obtained in the local absolute coordinate system. Experiments with a vehicle-type mobile robot confirmed the effectiveness of the proposed method.