Collision Avoidance for Wheeled Mobile Robots in Smart Agricultural Systems Using Control Barrier Function Quadratic Programming

Collision Avoidance for Wheeled Mobile Robots in Smart Agricultural Systems Using Control Barrier Function Quadratic Programming

The primary challenge is to design feedback controls that enable robots to autonomously reach predetermined destinations while avoiding collisions with obstacles and other robots. Various control algorithms, such as the control barrier function-based quadratic programming (CBF-QP) controller, addres...

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Bibliographic Details
Main Authors: Sairoel Amertet, Girma Gebresenbet
Format: Article
Language:English
Published: MDPI AG 2025-02-01
Series:Applied Sciences
Subjects:
smart agriculture
control barrier function
wheeled mobile robot
autonomous system
collision avoidance
quadratic programming
Online Access:https://www.mdpi.com/2076-3417/15/5/2450
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