Continuous Safety Control of Mobile Robots in Cluttered Environments

Si Wu; Tengfei Liu; Qinglin Niu; Zhong Ping Jiang

doi:10.1109/LRA.2022.3187492

Continuous Safety Control of Mobile Robots in Cluttered Environments

Si Wu, Tengfei Liu, Qinglin Niu, Zhong Ping Jiang

Electrical and Computer Engineering

Research output: Contribution to journal › Article › peer-review

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.

Original language	English (US)
Pages (from-to)	8012-8019
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	7
Issue number	3
DOIs	https://doi.org/10.1109/LRA.2022.3187492
State	Published - Jul 1 2022

Keywords

Lipschitz continuity
Robot safety
optimization and optimal control
positive basis
regularization

ASJC Scopus subject areas

Control and Systems Engineering
Biomedical Engineering
Human-Computer Interaction
Mechanical Engineering
Computer Vision and Pattern Recognition
Computer Science Applications
Control and Optimization
Artificial Intelligence

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10.1109/LRA.2022.3187492

Cite this

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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.",

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AU - Niu, Qinglin

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AB - 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.

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KW - optimization and optimal control

KW - positive basis

KW - regularization

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Continuous Safety Control of Mobile Robots in Cluttered Environments

Abstract

Keywords

ASJC Scopus subject areas

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