@inproceedings{784611e5ba854d4aa5ef43ca243816d6,
title = "Parameter prediction of control barrier function parameters for robotic manipulator obstacle avoidance",
abstract = "In this paper we present the implementation of a Control Barrier Function (CBF) safety filter that provides obstacle avoidance for a robotic manipulator arm system in a simulated environment (Simulink). CBF is a control technique that has developed over the past decade and has been extensively explored in the literature on its mathematical foundations and potential applications for a variety of safety-critical control systems. In this work we will look at the design of CBF for the robotic manipulator obstacle avoidance, discuss the selection of the CBF parameters and present a search algorithm to find parameters that provide the most efficient trajectory for different obstacles. We then create a data-set across a range of obstacle scenarios that is used to train a Neural-Network (NN) model that can be used within the control scheme to allow the system to efficiently adapt to different obstacle scenarios.",
author = "Stephen McIlvanna and Mien Van and Yuzhu Sun and Minh, {Nhat Nguyen} and Wasif Naeem",
year = "2023",
month = nov,
day = "16",
doi = "10.1109/IECON51785.2023.10312139",
language = "English",
isbn = "9798350331837",
series = "IECON - Annual Conference of the IEEE Industrial Electronics Society: proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "49th Annual Conference of the IEEE Industrial Electronics Society (IECON 2023): proceedings",
address = "United States",
note = "IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society ; Conference date: 16-10-2023 Through 19-10-2023",
}