Continuous Safety Control of Mobile Robots in Cluttered Environments

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

Research output: Contribution to journalArticlepeer-review


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 languageEnglish (US)
Pages (from-to)8012-8019
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number3
StatePublished - Jul 1 2022


  • 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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