Visualization of Risk Using Virtual Input Based a Control Barrier Function

Abstract

In control theory, control barrier functions have been actively studied to improve the safety of control systems. Moreover, visualization techniques to reduce the risk of accidents have also been studied. However, there is no discussion on visualization using human assist control. In this study, we propose a visualization technique of risks using virtual inputs that are not performed directly on the system. The effectiveness of risk visualization is discussed through experiments using a personal mobility.