局所絶対座標系における車両型移動ロボットに対するステアリングアシスト制御

抄録

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.