Revised Control Barrier Function with Sensing of Threats from Relative Velocity Between Humans and Mobile Robots.

Zihan Zeng, Silu Chen, Xiangjie Kong, Xiaojuan Li, Chi Zhang, Guilin Yang

Abstract read

In one paragraph

Article in Sensors (Basel, Switzerland), 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

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5 · Who and what money

Authors and funding

6 authors.

Zihan ZengSchool of Mechanical Engineering, Xinjiang University, Urumqi 830047, China.

Silu ChenNingbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China.ORCID 0000-0003-2548-7196

Xiangjie KongNingbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China.

Xiaojuan LiSchool of Mechanical Engineering, Xinjiang University, Urumqi 830047, China.

Chi ZhangNingbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China.

Guilin YangNingbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China.ORCID 0000-0001-6144-3401

Funding

National Nature Science Foundation of China U20A20282

6 · The paper itself

Abstract

The mobile robot, which comprises a mobile platform and a robotic arm, has been widely adopted in industrial automation. Existing safe control methods with real-time trajectory alternation face difficulties in efficiently identifying threats from fast relative motion between humans and robots, causing hazards in environments of dense human-robot coexistence. This work firstly builds a safe mobile robot control framework in the kinematic sense. Secondly, the proximity between parts of a human and a mobile robot is efficiently solved by convex programming with parametric description of skew line segments. It is also no longer required to perform case-by-case analysis of skew line segments' relative pose in space. Thirdly, a novel threatening index is proposed to select the most threatened human parts based on mutual projection of human-robot relative velocity and their common normal vector. Eventually, this index is incorporated into the safety constraint, showing the improved safe control performance in the simulated human-mobile robot coexistence scenario.

Indexed as

control barrier functionhuman–robot interactionmobile robotobstacle avoidancerelative velocitysafety constraint

Identifiers

PMID40648261

DOI10.3390/s25134005

PMCPMC12251740

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.