Continuous Safety Control of Mobile Robots in Cluttered Environments
Si Wu, Tengfei Liu, Qinglin Niu, Zhong‐Ping Jiang
Abstract
This letter studies the safety control problem for mobile robots working in cluttered environments. A compact set is employed to represent the obstacles, and a direction-distance function is used to describe the obstacle-measurement model. The major contribution is a nontrivial modification of the quadratic programming (QP) approach for continuous safety control of integrator-modeled mobile robots. In particular, a refinement of the Moreau-Yosida method is proposed to regularize the measurement model while retaining feasibility and safety. The second contribution is the development of a new feasible set shaping technique with a positive basis for a QP-based continuous safety controller. Physical experiments are employed to verify the proposed method.