Research paper
Enhancing Mobile Robot Navigation Safety and Efficiency through NMPC with Relaxed CBF in Dynamic Environments
The controller combines short-horizon NMPC, stability constraints and a relaxed CBF decay rate for mobile-robot tracking. Simulations and Husky A200 experiments compare obstacle-avoidance behavior. The archive links a 2024 conference publication; its 2022 first posting remains a different date.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Enhancing Mobile Robot Navigation Safety and Efficiency through NMPC with Relaxed CBF in Dynamic Environments
- Publisher
- arXiv
- Authors
- Minh, Nhat Nguyen, McIlvanna, Stephen, Sun, Yuzhu, Jin, Yan, Van, Mien
- DOI
- 10.48550/arxiv.2211.11348
- First archive posting
- 2022-11-21
- Source language
- en
- Source country
- US
- Edition
- v2
- Access
- Open archive metadata and manuscript
- Publication status
- Archive manuscript · linked publication metadata
Related resources and engineering notes
Source overview
The controller combines short-horizon NMPC, stability constraints and a relaxed CBF decay rate for mobile-robot tracking. Simulations and Husky A200 experiments compare obstacle-avoidance behavior. The archive links a 2024 conference publication; its 2022 first posting remains a different date.
Use and review
Original summary of the primary archive abstract and bibliographic record. Specialist technical and native-language review remain pending. The reported method does not establish a deployed safety function or achieved PL.
Sources & editions
Enhancing Mobile Robot Navigation Safety and Efficiency through NMPC with Relaxed CBF in Dynamic Environments ↗
arXiv · v2
arXiv abstract, authors, submission history and DOI links; first posting 2022-11-21, abstract reviewed in v2. Publisher dates are separate.