Safety and Efficiency in Robotics: The Control Barrier Functions Approach
Safety and Efficiency in Robotics: The Control Barrier Functions Approach
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DOI：
10.1109/mra.2022.3174699
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发表时间：
2022-09
影响因子：
5.7
通讯作者：
F. Ferraguti;Chiara Talignani Landi;Andrew W. Singletary;Hsien-Chung Lin;A. Ames;C. Secchi;M. Bonfè
中科院分区：
文献类型：
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作者：
F. Ferraguti;Chiara Talignani Landi;Andrew W. Singletary;Hsien-Chung Lin;A. Ames;C. Secchi;M. Bonfè
本文旨在介绍控制屏障函数(CBF)的理论框架及其在机器人系统安全相关控制器设计中的应用。本文首先描述了CBF的基本概念，以及如何使用它们来构建嵌入基于CBF的约束的优化问题，其解决方案对应于将期望的安全属性强制实施到受控系统的行为中的控制输入。简单的例子被用来强调基于CBF的方法的吸引人的特征，这些例子对于具有控制理论基本背景的读者来说是易懂的，并伴随着他们的仿真源代码。然后，介绍了适用于机器人机械手的更复杂的公式，回顾了最近的文献结果，使用户能够实施稳健的设计方法。最后，通过在工业协作机器人系统中的实验验证，表明CBFS适合于在现实的工业场景中实现安全的人-机器人协作。
This article aims at presenting an introductory overview of the theoretical framework of control barrier functions (CBFs) and of their application to the design of safety-related controllers for robotic systems. The article starts by describing the basic concepts of CBFs and how they can be used to build optimization problems embedding CBF-based constraints, whose solutions correspond to the control input enforcing the desired safety properties into the behavior of the controlled system. Simple examples, understandable for readers with a basic background in control theory and accompanied with source code for their simulation, are used to highlight the appealing features of the CBF-based approach. Then, more complex formulations applicable to robotic manipulators are introduced, recalling recent literature results allowing users to implement a robust design methodology. Finally, it is shown that CBFs are suitable for the implementation of safe human–robot collaboration in a realistic industrial scenario by means of the experimental validation in an industrial setup for collaborative robotics.