Enhancing Mobile Robot Navigation Safety and Efficiency through NMPC with Relaxed CBF in Dynamic Environments

摘要

In this paper, a safety-critical control strategy for a nonholonomic robot is developed to generate control signals that result in optimal, obstacle-free paths through dynamic environments. We formulate the control synthesis problem as an Optimal Control Problem (OCP) that enforces Control Lyapunov Function (CLF) constraints for system stability as well as safety-critical constraints using Control Barrier Function (CBF) with a relaxing decay rate of the barrier function. A Nonlinear Model Predictive Control (NMPC) integrates with CLF and CBF to ensure system safety and facilitate optimal performance within a short prediction horizon, reducing the computational burden in real-time implementation. Additionally, we incorporate an obstacle avoidance constraint based on the Euclidean norm into the NMPC framework, showcasing the CBF approach's superiority in addressing mobile robotic systems' point stabilisation and trajectory tracking challenges. Through extensive simulations, the proposed controller demonstrates proficiency in static and dynamic obstacle avoidance under various scenarios. Experimental validations conducted using the Husky A200 robot align with simulation results, reinforcing the applicability of our proposed approach in real-world scenarios, notably improving the computational efficiency and safety in practical mobile robot applications.