機体の形状を考慮した制御バリア関数の積分設計法

抄録

In recent years, control barrier functions have attracted much attention for ensuring safety in collision avoidance and human assist control. However, control laws cannot guarantee the solution of differential equations without properly considering the shape of the target system. In this study, we designed a control law that considers the shape of the control target and designs a control barrier function for non-convex safe sets. Based on this, we proposed an integral control barrier function and confirmed its effectiveness by testing it for collision avoidance between a three-link robot arm and obstacles through simulation and experiment.