CBFs-Based Model Predictive Control for Obstacle Avoidance With Tilt Angle Limitation for Ball-Balancing Robots

CBFs-Based Model Predictive Control for Obstacle Avoidance With Tilt Angle Limitation for Ball-Balancing Robots

This study investigates an automatic navigation method for one type of underactuated system, ball-balancing robot (ballbot), in complex environments with both dynamic obstacles and complex-shaped obstacles. To ensure safe operations, which means that ballbot has to avoid obstacles and maintain tilt...

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Bibliographic Details
Main Authors: Minh Duc Pham, Duc Cuong Vu, Thi Thuy Hang Nguyen, Thi-van-Anh Nguyen, Minh Nhat Vu, Tung Lam Nguyen
Format: Article
Language:English
Published: IEEE 2025-01-01
Series:IEEE Access
Subjects:
Ball-balancing robot
moving obstacle avoidance
model predictive control
control barrier function
output constraint
simulation technique
Online Access:https://ieeexplore.ieee.org/document/10988790/
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https://ieeexplore.ieee.org/document/10988790/

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