Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds

摘要

This paper presents experimental results on novel robot testbeds that allow the evaluation of the simultaneous implementation of adaptive speed regulation and lane keeping in a safe, education-centric, and inexpensive manner. The underlying algorithms are based on a control Lyapunov function for performance, a control barrier function for safety, and a realtime quadratic program for mediating the conflicting demands of performance and safety. The Robotarium used for this work allows students, as well as researchers less experienced with hardware, to experiment with advanced control concepts in a safe and standardized environment.