CONTROL IN A SAFE SET: ADDRESSING SAFETY IN HUMAN-ROBOT INTERACTIONS
CONTROL IN A SAFE SET: ADDRESSING SAFETY IN HUMAN-ROBOT INTERACTIONS
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安全环境中的控制：解决人机交互中的安全问题
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
M. Tomizuka
中科院分区：
文献类型：
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作者：
Changliu Liu;M. Tomizuka
人机交互（Human-Robot Interactions，HRI）发生在各种各样的情况下。安全是HRI最大的关注点之一。本文提出了一种设计机器人控制器的安全设置方法，为机器人控制器的安全性提供了理论保证。在一个多智能体系统框架的相互作用建模。为了处理人在回路中的问题，我们设计了一个参数自适应算法（PAA）来在线学习人的闭环行为。然后构造一个安全集（状态空间的一个子集），将最优控制律映射到使安全集不变的控制集上。该算法适用于不同的安全约束的移动的机器人和机器人手臂。仿真结果验证了算法的有效性。
Human-robot interactions (HRI) happen in a wide range of situations. Safety is one of the biggest concerns in HRI. This paper proposes a safe set method for designing the robot controller and offers theoretical guarantees of safety. The interactions are modeled in a multi-agent system framework. To deal with humans in the loop, we design a parameter adaptation algorithm (PAA) to learn the closed loop behavior of humans online. Then a safe set (a subset of the state space) is constructed and the optimal control law is mapped to the set of control which can make the safe set invariant. This algorithm is applied with different safety constraints to both mobile robots and robot arms. The simulation results confirm the effectiveness of the algorithm.