Control Barrier Function Based Assist Control with Shifting Sensor and Footprint Positions

An indoor autonomous mobile robot is required to avoid contacting building walls and fixtures in the course of its operation. This problem is known as a collision avoidance problem. The method based on control barrier functions has recently been proposed as one of the solutions. We have also designed the control barrier function for point cloud dynamics in our previous work. In this paper, we present the results of an implementation of the control barrier function based controller on an actual robot. The method is extended to handle shifting sensor position and collision area. The effectiveness of the proposed controller is confirmed by experimental results.