Collision Avoidance Human Assist Control with 2D LiDAR Control Barrier Function

In recent years, there has been an active social implementation of mobile robots mounted 2D LiDAR (2 Dimensional Light Detection And Ranging). When a user remote-controls the robot, it is required to realize collision avoidance with minimum assist input while prioritizing user's input commands as much as possible. This paper adopts control barrier function theory to achieve collision avoidance for a mobile robot. In particular, we propose a new model using the distance obtained from 2D LiDAR and the robot's shape as state variables. The effectiveness of the collision avoidance assist controller designed based on this model is demonstrated through computer simulation.