Safe Predictive Control of Four Independent Steering and Drive Wheeled Mobile Robots

Motivated by the need to simultaneously guarantee the safety and performance of mobile robots moving around people, we propose a safe predictive controller to explicitly maximize the performance while the proposed policy stabilize the controller without violating the safety. Safety rules are implemented as Control Barrier Functions (CBF) to the convex optimization of a Nonlinear Model Predictive Controller. Proposed method guarantee the forward invariance of a permissible sets for the an autonomous wheeled mobile robot. We demonstrate experimentally that this method permits the development of a safe control design for repetitive trajectory tracking for a four independent steering and independent drive wheeled mobile robots with disturbances and uncertainties.