Control Barrier Function Based Human Assist Control for Moving Obstacle Avoidance

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  • 制御バリア関数を用いた時変の障害物回避のためのヒューマンアシスト制御
  • セイギョ バリア カンスウ オ モチイタ ジヘン ノ ショウガイブツ カイヒ ノ タメ ノ ヒューマンアシスト セイギョ

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<p>Human assist control of a control system driven by a human operator attracts much attention, and we have proposed a human assist control strategy has been proposed by using a control barrier function (CBF). However, the method is valid only for time-invariant environments; we cannot apply the method to a moving obstacle avoidance problem of a vehicle. In this paper, we introduce a time-invariant graph space as a time-varying state space. Then, we propose a time-varying CBF and human assist control based on the time-varying CBF for given time-varying environments. Finally, we confirm the effectiveness of the proposed method by computer simulation.</p>

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