Collision avoidance assist control for two-wheel vehicle robots by control barrier function

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.