Document Type

Article

Abstract

This paper describes a novel shared control teleoperation framework for mobile robots that utilizes Control Barrier Functions (CBFs) as filtering mechanism to prevent a human operator from making dangerous actions. The proposed framework demonstrates the potential to create a CBF controller that enables users with no prior knowledge of robotics to safely tele-navigate mobile robots with limited situational awareness. As formal methods, we utilize a hand-crafted CBF, which acts as a repulsive field to describe unsafe regions withing the robot’s vicinity. The implementation of the application was deemed possible by creating a Virtual Reality (VR) simulation in the Unity Engine with the SUMMIT-XL STEEL mobile base as an experimental platform. Preliminary experimental results show the ability of the framework to enable safe teleoperation.

Publication Date

7-1-2023

Language

English

License

Creative Commons Attribution 4.0 International License
This work is licensed under a Creative Commons Attribution 4.0 International License.

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