制御バリア関数に基づくロボットの安全性を考慮した球面上での持続的被覆制御

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2022/12/01

タイトル(英語): Persistent Coverage Control on a Sphere with Robot Safety Based on Control Barrier Functions

著者名: 山内　淳矢（東京大学大学院情報理工学系研究科），足立　智貴（東京工業大学工学院），中山　一秀（東京工業大学環境・社会理工学院），畑中　健志（東京工業大学工学院），藤田　政之（東京大学大学院情報理工学系研究科）

著者名(英語): Junya Yamauchi (Graduate School of Information Science and Technology, The University of Tokyo), Tomoki Adachi (School of Engineering, Tokyo Institute of Technology), Kazuhide Nakayama (School of Environment and Society, Tokyo Institute of Technology), Takeshi Hatanaka (School of Engineering, Tokyo Institute of Technology), Masayuki Fujita (Graduate School of Information Science and Technology, The University of Tokyo)

キーワード: 協調制御，持続的被覆制御，制御バリア関数，安全性_x000D_　　cooperative control，persistent coverage control，control barrier function，safety

要約(英語): This paper proposes a persistent coverage control method on a sphere, taking robot safety into account based on control barrier functions. First, we present a persistent coverage control on a sphere, which dynamically changes the arrangement of multiple robots with a limited-range sensor. Second, we also consider the safety of the robots on the sphere by using control barrier functions that guarantee energy management and collision avoidance. Furthermore, the safety-aware persistent coverage control is reduced to a quadratic programming problem using the control barrier functions, and optimization-based control law is proposed. Finally, the effectiveness of the proposed control method is demonstrated by simulation.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.142 No.12 （2022） 特集：電気・電子・情報関係学会東海支部連合大会

本誌掲載ページ: 1305-1312 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/142/12/142_1305/_article/-char/ja/