{"title":"基于控制屏障功能的两轮车机器人避碰辅助控制","authors":"Motoi Igarashi, Hisakazu Nakamura","doi":"10.1109/CACS.2018.8606761","DOIUrl":null,"url":null,"abstract":"Human assist control for a system driven by a human operator has attracted much attention. Also, a quadratic programming method using a control barrier function has been proposed. The human assist control using the control barrier function guarantees the safety of the system; however, the control is the minimum among safety inputs. In this research, we propose a method of human assist control for a two-wheel mobile robot using a control barrier function. The effectiveness of the method was demonstrated in a computer simulation.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"38 8","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"Collision avoidance assist control for two-wheel vehicle robots by control barrier function\",\"authors\":\"Motoi Igarashi, Hisakazu Nakamura\",\"doi\":\"10.1109/CACS.2018.8606761\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Human assist control for a system driven by a human operator has attracted much attention. Also, a quadratic programming method using a control barrier function has been proposed. The human assist control using the control barrier function guarantees the safety of the system; however, the control is the minimum among safety inputs. In this research, we propose a method of human assist control for a two-wheel mobile robot using a control barrier function. The effectiveness of the method was demonstrated in a computer simulation.\",\"PeriodicalId\":282633,\"journal\":{\"name\":\"2018 International Automatic Control Conference (CACS)\",\"volume\":\"38 8\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 International Automatic Control Conference (CACS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CACS.2018.8606761\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 International Automatic Control Conference (CACS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CACS.2018.8606761","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Collision avoidance assist control for two-wheel vehicle robots by control barrier function
Human assist control for a system driven by a human operator has attracted much attention. Also, a quadratic programming method using a control barrier function has been proposed. The human assist control using the control barrier function guarantees the safety of the system; however, the control is the minimum among safety inputs. In this research, we propose a method of human assist control for a two-wheel mobile robot using a control barrier function. The effectiveness of the method was demonstrated in a computer simulation.
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