Daisuke Tabuchi

Too Matsuo, Yuki Nishimura, Kenta Hoshino et al.

A marine vessel is a nonlinear system subject to irregular disturbances such as wind and waves, which cause tracking errors between the nominal and actual trajectories. In this study, a nonlinear vessel maneuvering model that includes a tracking controller is formulated and then controlled using a linear approximation around the nominal trajectory. The resulting stochastic linearized system is analyzed using a stochastic zeroing control barrier function (ZCBF). A stochastic safety compensator is designed to ensure probabilistic safety, and its effectiveness is verified through numerical simulations.

Taichi Arimura, Yuki Nishimura, Taichi Ikezaki et al.

In recent years, many control problems of autonomous mobile robots have been developed. In particular, the robots are required to be safe; that is, they need to be controlled to avoid colliding with people or objects while traveling. In addition, since safety should be ensured even under irregular disturbances, the control for safety is required to be effective for stochastic systems. In this study, we design an almost sure safety-critical control law, which ensures safety with probability one, for a two-wheeled vehicle based on the stochastic control barrier function approach. In the procedure, we also consider a system model using the relative distance measured by a 2D LiDAR. The validity of the proposed control scheme is confirmed by experiments of a collision avoidance problem for a two-wheeled vehicle under vibration.