Safety-Critical Trajectory Tracking for Mobile Robots With Guaranteed Performance  

作　　者：Wentao Wu Di Wu Yibo Zhang Shukang Chen Weidong Zhang 

机构地区：[1]Department of Automation,Shanghai Jiao Tong University,Shanghai 200240,China [2]Department of Information and Communication Engineering,Hainan University,Haikou 570288,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2024年第9期2033-2035,共3页自动化学报（英文版）

基　　金：supported in part by the National Key R&D Program of China (2022ZD0119901);the Shanghai Science and Technology Program (22015810300);the Hainan Province Science and Technology Special Fund (ZDYF2024GXJS 003);the National Natural Science Foundation of China (U2141234,52201369)。

摘　　要：Dear Editor,This letter considers a collision-free trajectory tracking problem for performance-guaranteed mobile robots(MRs)subject to obstacles.We propose a safety-critical performance-guaranteed trajectory tracking method based on control barrier functions(CBFs).First,an auxiliary system is established to generate the non-negative signals for inflexible bounds such that the performance constraints are not violated when avoiding obstacles.

关 键 词：CONSTRAINTS BOUNDS COLLISION 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]