A Control Barrier Function Approach for Observer-based Visually Safe Pursuit Control with Spherical Obstacles

Tesshu Fujinami*, Junya Yamauchi*, Riku Funada*, Masayuki Fujita

*この論文の責任著者

研究成果: 書籍の章/レポート/会議録会議への寄与査読

2 被引用数 (Scopus)

抄録

Pursuing a target in the presence of obstacles requires that an autonomous mobile robot keeps sight of the target in a way robust to the target's unknown behavior. This paper presents visually safe pursuit control, which keeps a target with the unknown motion inside the camera's field of view while preventing occlusion caused by spherical obstacles. Framed as forward invariance of sets in the SE(3) state space, visual safety is ensured by the Control Barrier Functions (CBFs) approach. Concretely, by showing the Input-to-State stability of the vision-based observer that estimates the target's motion, we design safety certificates for visual safety that accommodate uncertainties in the target's motion. This enables us to synthesize a safe controller as a Quadratic Programming problem. Finally, the theoretical results are verified via a simulation of a visual pursuit scenario.

本文言語英語
ホスト出版物のタイトルIFAC-PapersOnLine
編集者Hideaki Ishii, Yoshio Ebihara, Jun-ichi Imura, Masaki Yamakita
出版社Elsevier B.V.
ページ10799-10804
ページ数6
2
ISBN(電子版)9781713872344
DOI
出版ステータス出版済み - 2023/07/01
イベント22nd IFAC World Congress - Yokohama, 日本
継続期間: 2023/07/092023/07/14

出版物シリーズ

名前IFAC-PapersOnLine
番号2
56
ISSN(電子版)2405-8963

学会

学会22nd IFAC World Congress
国/地域日本
CityYokohama
Period2023/07/092023/07/14

ASJC Scopus 主題領域

  • 制御およびシステム工学

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