Multi-Layered Interactive Target Guidance with Visual Safety in Convex-Shaped Obstacle Environments
In this paper, we consider a control architecture for a mobile robot equipped with visual sensors to pursue a target object in an environment with convex-shaped obstacles. The pursuit involves crucial occlusion avoidance and field of view maintenance, referred to as visual safety. Our goal is to ach...
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| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/14/24/11544 |
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| author | Kodai Kanno Junya Yamauchi Masayuki Fujita |
| author_facet | Kodai Kanno Junya Yamauchi Masayuki Fujita |
| author_sort | Kodai Kanno |
| collection | DOAJ |
| description | In this paper, we consider a control architecture for a mobile robot equipped with visual sensors to pursue a target object in an environment with convex-shaped obstacles. The pursuit involves crucial occlusion avoidance and field of view maintenance, referred to as visual safety. Our goal is to achieve this safety through a multi-layered control architecture consisting of a planning layer and a safety layer. We propose functions that represent occlusion avoidance and field of view maintenance and derive conditions for these to act as control barrier functions. Utilizing these functions, we implement an optimal control at the planning layer and an optimization-based control at the safety layer. The effectiveness of this method is verified through two tasks: guiding the target object into a target location and preventing the target object from entering a target location. |
| format | Article |
| id | doaj-art-2765f6a25bc84f95acb46cc2ce5b1583 |
| institution | DOAJ |
| issn | 2076-3417 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj-art-2765f6a25bc84f95acb46cc2ce5b15832025-08-20T02:53:22ZengMDPI AGApplied Sciences2076-34172024-12-0114241154410.3390/app142411544Multi-Layered Interactive Target Guidance with Visual Safety in Convex-Shaped Obstacle EnvironmentsKodai Kanno0Junya Yamauchi1Masayuki Fujita2Graduate School of Information Science and Technology, University of Tokyo, Bunkyo-ku, Tokyo 113-0033, JapanFaculty of Engineering, University of Toyama, Toyama-shi 930-8555, Toyama, JapanCollege of Engineering, Kanazawa Institute of Technology, Nonoichi-shi 921-8501, Ishikawa, JapanIn this paper, we consider a control architecture for a mobile robot equipped with visual sensors to pursue a target object in an environment with convex-shaped obstacles. The pursuit involves crucial occlusion avoidance and field of view maintenance, referred to as visual safety. Our goal is to achieve this safety through a multi-layered control architecture consisting of a planning layer and a safety layer. We propose functions that represent occlusion avoidance and field of view maintenance and derive conditions for these to act as control barrier functions. Utilizing these functions, we implement an optimal control at the planning layer and an optimization-based control at the safety layer. The effectiveness of this method is verified through two tasks: guiding the target object into a target location and preventing the target object from entering a target location.https://www.mdpi.com/2076-3417/14/24/11544vision-based controlcontrol barrier functionsmulti-layered controlinteractive guidance |
| spellingShingle | Kodai Kanno Junya Yamauchi Masayuki Fujita Multi-Layered Interactive Target Guidance with Visual Safety in Convex-Shaped Obstacle Environments Applied Sciences vision-based control control barrier functions multi-layered control interactive guidance |
| title | Multi-Layered Interactive Target Guidance with Visual Safety in Convex-Shaped Obstacle Environments |
| title_full | Multi-Layered Interactive Target Guidance with Visual Safety in Convex-Shaped Obstacle Environments |
| title_fullStr | Multi-Layered Interactive Target Guidance with Visual Safety in Convex-Shaped Obstacle Environments |
| title_full_unstemmed | Multi-Layered Interactive Target Guidance with Visual Safety in Convex-Shaped Obstacle Environments |
| title_short | Multi-Layered Interactive Target Guidance with Visual Safety in Convex-Shaped Obstacle Environments |
| title_sort | multi layered interactive target guidance with visual safety in convex shaped obstacle environments |
| topic | vision-based control control barrier functions multi-layered control interactive guidance |
| url | https://www.mdpi.com/2076-3417/14/24/11544 |
| work_keys_str_mv | AT kodaikanno multilayeredinteractivetargetguidancewithvisualsafetyinconvexshapedobstacleenvironments AT junyayamauchi multilayeredinteractivetargetguidancewithvisualsafetyinconvexshapedobstacleenvironments AT masayukifujita multilayeredinteractivetargetguidancewithvisualsafetyinconvexshapedobstacleenvironments |