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...
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-02-01
|
| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/15/5/2450 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850050868987035648 |
|---|---|
| author | Sairoel Amertet Girma Gebresenbet |
| author_facet | Sairoel Amertet Girma Gebresenbet |
| author_sort | Sairoel Amertet |
| collection | DOAJ |
| description | 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, address collision avoidance problems. Control barrier functions (CBFs) ensure forward invariance, which is critical for guaranteeing safety in robotic collision avoidance within agricultural fields. The goal of this study is to enhance the safety and mitigation of potential collisions in smart agriculture systems. The entire system was simulated in the MATLAB/Simulink environment, and the results demonstrated a <b>93% improvement in steady-state error over</b> rapidly exploring random tree (RRT). These findings indicate that the proposed controller is highly effective for collision avoidance in smart agricultural systems. |
| format | Article |
| id | doaj-art-07f48bcd9fc241e5a146fc7a8e13fc3f |
| institution | DOAJ |
| issn | 2076-3417 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj-art-07f48bcd9fc241e5a146fc7a8e13fc3f2025-08-20T02:53:19ZengMDPI AGApplied Sciences2076-34172025-02-01155245010.3390/app15052450Collision Avoidance for Wheeled Mobile Robots in Smart Agricultural Systems Using Control Barrier Function Quadratic ProgrammingSairoel Amertet0Girma Gebresenbet1High School of Automation and Robotics, Peter the Great Saint Petersburg Polytechnic University, 195220 Saint Petersburg, RussiaDepartment of Energy and Technology, Swedish University of Agricultural Sciences, P.O. Box 7032, 750 07 Uppsala, SwedenThe 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, address collision avoidance problems. Control barrier functions (CBFs) ensure forward invariance, which is critical for guaranteeing safety in robotic collision avoidance within agricultural fields. The goal of this study is to enhance the safety and mitigation of potential collisions in smart agriculture systems. The entire system was simulated in the MATLAB/Simulink environment, and the results demonstrated a <b>93% improvement in steady-state error over</b> rapidly exploring random tree (RRT). These findings indicate that the proposed controller is highly effective for collision avoidance in smart agricultural systems.https://www.mdpi.com/2076-3417/15/5/2450smart agriculturecontrol barrier functionwheeled mobile robotautonomous systemcollision avoidancequadratic programming |
| spellingShingle | Sairoel Amertet Girma Gebresenbet Collision Avoidance for Wheeled Mobile Robots in Smart Agricultural Systems Using Control Barrier Function Quadratic Programming Applied Sciences smart agriculture control barrier function wheeled mobile robot autonomous system collision avoidance quadratic programming |
| title | Collision Avoidance for Wheeled Mobile Robots in Smart Agricultural Systems Using Control Barrier Function Quadratic Programming |
| title_full | Collision Avoidance for Wheeled Mobile Robots in Smart Agricultural Systems Using Control Barrier Function Quadratic Programming |
| title_fullStr | Collision Avoidance for Wheeled Mobile Robots in Smart Agricultural Systems Using Control Barrier Function Quadratic Programming |
| title_full_unstemmed | Collision Avoidance for Wheeled Mobile Robots in Smart Agricultural Systems Using Control Barrier Function Quadratic Programming |
| title_short | Collision Avoidance for Wheeled Mobile Robots in Smart Agricultural Systems Using Control Barrier Function Quadratic Programming |
| title_sort | collision avoidance for wheeled mobile robots in smart agricultural systems using control barrier function quadratic programming |
| topic | smart agriculture control barrier function wheeled mobile robot autonomous system collision avoidance quadratic programming |
| url | https://www.mdpi.com/2076-3417/15/5/2450 |
| work_keys_str_mv | AT sairoelamertet collisionavoidanceforwheeledmobilerobotsinsmartagriculturalsystemsusingcontrolbarrierfunctionquadraticprogramming AT girmagebresenbet collisionavoidanceforwheeledmobilerobotsinsmartagriculturalsystemsusingcontrolbarrierfunctionquadraticprogramming |