Control barrier functions applied to an omnidirectional mobile robot

  • Félix Gabriel dos Santos Souza Federal Institute of São Paulo campus São Paulo
  • Caio Igor Gonçalves Chinelato Federal University of ABC (UFABC) https://orcid.org/0000-0001-8227-2541
DOI: https://doi.org/10.47734/regrasp.v10i3.1248
Palavras-chave: Control Barrier Function, Safety, Robotic Systems, Omnidirectional Mobile Robot, Control Lyapunov Function

Resumo

Control barrier functions (CBFs) have been extensively studied recently and are related to the safety of control systems. Safety is represented by constraints on the states and outputs of the system. The final control framework integrates the stabilization/tracking objectives, described by a control Lyapunov function (CLF) or a nominal control input, and the safety constraints, described by CBFs, through a quadratic programming (QP). The objective and the main contribution of this work is the application of this control framework to the Robotino mobile robot (Festo), which is used in several educational institutions in Brazil and worldwide, and unlike many didactic mobile robots, it features a more robust structure, higher actuation power, and is omnidirectional, making it more compatible with real-world applications. Several studies in the literature propose controlling the Robotino to satisfy stabilization/tracking objectives; however, none of these studies apply CBFs to ensure that safety constraints are respected. The results, obtained through computational simulations, demonstrate that both the stabilization/tracking objectives, represented by reference trajectories, and the safety constraints, represented by position and coordinate constraints of the robotic system, were satisfied.

Biografia do Autor

Félix Gabriel dos Santos Souza, Federal Institute of São Paulo campus São Paulo

Undergraduate Student in Control and Automation Engineering

Caio Igor Gonçalves Chinelato, Federal University of ABC (UFABC)

Professor and researcher at Federal University of ABC (UFABC) - Center of Engineering, Modeling and Applied Social Sciences (CECS), Santo André, Brazil. Mechatronics Technician graduated from ETEC Jorge Street, São Caetano do Sul, Brazil. B.Sc. Degree in Science and Technology, B.Sc. Degree in Instrumentation, Automation and Robotics Engineering, and M.Sc. Degree in Mechanical Engineering from the UFABC. Ph.D. Degree in Electrical Engineering from the Polytechnic School of University of São Paulo (EPUSP), São Paulo, Brazil. The research interests include Robotics, Control Systems, Mechatronics, Automation, and Engineering Education.

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Publicado
2025-09-01
Como Citar
Souza, F., & Chinelato, C. (2025). Control barrier functions applied to an omnidirectional mobile robot. Revista Para Graduandos/Instituto Federal De Educação, Ciência E Tecnologia De São Paulo - Campus São Paulo - REGRASP, 10(3), 32-44. https://doi.org/10.47734/regrasp.v10i3.1248
Edição
v. 10 n. 3 (2025): Número Regular *Publicação Contínua*
Seção
Artigos

Copyright (c) 2025 Félix Gabriel dos Santos Souza, Caio Igor Gonçalves Chinelato

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