论文标题
具有控制屏障功能的移动机器人臂的配置感知安全控制
Configuration-Aware Safe Control for Mobile Robotic Arm with Control Barrier Functions
论文作者
论文摘要
避免碰撞是机器人应用中广泛研究的主题。在将避免碰撞技术应用于移动机器人时，如何处理机器人的空间结构仍然是一个挑战。在本文中，我们通过求解具有设计的控制障碍功能（CBFS）约束的二次编程（QP）来设计配置感知的安全控制法，该法规可以安全地将移动机器人手臂浏览到所需的区域，同时避免与环境障碍发生碰撞。我们方法的优点是，它正确，并以一种优雅的方式结合了移动机器人臂的空间结构。这是通过将移动机器人臂之间的几何限制合并到CBFS约束中来实现的。进行刚性杆上的模拟和建模的移动机器人臂，以验证提出的方法的可行性和时间效率。关于不同程度自由度的耗时的数值结果表明，我们的方法随维度的范围很好。
Collision avoidance is a widely investigated topic in robotic applications. When applying collision avoidance techniques to a mobile robot, how to deal with the spatial structure of the robot still remains a challenge. In this paper, we design a configuration-aware safe control law by solving a Quadratic Programming (QP) with designed Control Barrier Functions (CBFs) constraints, which can safely navigate a mobile robotic arm to a desired region while avoiding collision with environmental obstacles. The advantage of our approach is that it correctly and in an elegant way incorporates the spatial structure of the mobile robotic arm. This is achieved by merging geometric restrictions among mobile robotic arm links into CBFs constraints. Simulations on a rigid rod and the modeled mobile robotic arm are performed to verify the feasibility and time-efficiency of proposed method. Numerical results about the time consuming for different degrees of freedom illustrate that our method scales well with dimension.
