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.
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)。
