A Teleoperation Framework for Robots Utilizing Control Barrier Functions in Virtual Reality
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Date
2023-07Author
Hebri, Aref
Acharya, Sneh
Makedon, Fillia
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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.