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Collision Avoidance Control for a Two-wheeled Vehicle under Stochastic Vibration using an Almost Sure Control Barrier Function

Taichi Arimura, Yuki Nishimura, Taichi Ikezaki, Daisuke Tabuchi

Abstract

In recent years, many control problems of autonomous mobile robots have been developed. In particular, the robots are required to be safe; that is, they need to be controlled to avoid colliding with people or objects while traveling. In addition, since safety should be ensured even under irregular disturbances, the control for safety is required to be effective for stochastic systems. In this study, we design an almost sure safety-critical control law, which ensures safety with probability one, for a two-wheeled vehicle based on the stochastic control barrier function approach. In the procedure, we also consider a system model using the relative distance measured by a 2D LiDAR. The validity of the proposed control scheme is confirmed by experiments of a collision avoidance problem for a two-wheeled vehicle under vibration.

Collision Avoidance Control for a Two-wheeled Vehicle under Stochastic Vibration using an Almost Sure Control Barrier Function

Abstract

In recent years, many control problems of autonomous mobile robots have been developed. In particular, the robots are required to be safe; that is, they need to be controlled to avoid colliding with people or objects while traveling. In addition, since safety should be ensured even under irregular disturbances, the control for safety is required to be effective for stochastic systems. In this study, we design an almost sure safety-critical control law, which ensures safety with probability one, for a two-wheeled vehicle based on the stochastic control barrier function approach. In the procedure, we also consider a system model using the relative distance measured by a 2D LiDAR. The validity of the proposed control scheme is confirmed by experiments of a collision avoidance problem for a two-wheeled vehicle under vibration.

Paper Structure

This paper contains 16 sections, 31 equations, 28 figures.

Table of Contents

  1. Introduction
  2. Preliminary: Safety-critical Control
  3. Safety-critical Control
  4. Almost Sure Safety-critical Control
  5. Target System
  6. Dynamics for a Vehicle with 2D LiDAR
  7. Distance from the Sensor to the Axle
  8. Allowable Distance from the Axle to an Obstacle
  9. Stochastic System Model
  10. Almost Sure Safety-critical Control Law
  11. Experiments
  12. Parameter Settings
  13. Simulation and Experimental Results
  14. Discussion
  15. Conclusion
  16. ...and 1 more sections

Figures (28)

  • Figure 1: Lightrover.
  • Figure 2: Balancewave rose FAV4318P.
  • Figure 3: A system model of a two-wheeled vehicle.
  • Figure 4: Relationships among constants and variables.
  • Figure 5: Environment of Exps. 1d and 1n.
  • ...and 23 more figures

Theorems & Definitions (3)

  • Remark 1
  • Remark 2
  • Remark 3