期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 7, 期 2, 页码 944-951出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2021.3135569
关键词
Dynamics; motion control; robot safety
类别
资金
- National Science Foundation [1932091]
- Dow [227027AT]
- Aerovironment
This letter presents a framework for safety-critical control of robotic systems based on safe regions in the configuration space. It synthesizes a safe velocity using the control barrier function theory without relying on a complicated dynamic model and tracks the safe velocity with a tracking controller. The proposed method provides theoretical safety guarantees and has been demonstrated to be application-agnostic.
This letter presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthesize a safe velocity based on control barrier function theory without relying on a - potentially complicated - high-fidelity dynamical model of the robot. Then, we track the safe velocity with a tracking controller. This culminates in model-free safety critical control. We prove theoretical safety guarantees for the proposed method. Finally, we demonstrate that this approach is application-agnostic. We execute an obstacle avoidance task with a Segway in high-fidelity simulation, as well as with a Drone and a Quadruped in hardware experiments.
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