Backstepping CBF Design for Collision Avoidance of Electric Wheelchair

摘要

To avoid collisions, human assist control based on a control barrier function (CBF) attracts attentions in recent years. A lot of human assist control method have been proposed, particularly using a relaxed CBF and a strict zeroing CBF (SZCBF). However, to design CBFs is still a difficult task. Hence in this study, we propose a method to design a SZCBF via transformation of a control Lyapunov function (CLF) derived by the backstepping. The effectiveness of the human assist control using the SZCBF is confirmed by computer simulation and actual experiments using an electric wheelchair.