This paper develops rollover prevention guarantees for mobile robots using control barrier function (CBF) theory, and demonstrates the method experimentally. We consider a safety measure based on a zero moment point condition through the lens of CBFs. However, these conditions depend on time-varying and noisy parameters. To address this issue, we present a differentiator-based safety-critical controller that estimates these parameters and pairs Input-to-State Stable (ISS) differentiator dynamics with CBFs to achieve rigorous safety guarantees. Additionally, to ensure safety in the presence of disturbances, we utilize a time-varying extension of Projection-to-State Safety (PSSf). The effectiveness of the proposed method is demonstrated via experiments on a tracked robot with a rollover potential on steep slopes.

翻译：本文利用控制屏障函数理论为移动机器人开发了防侧翻保证，并通过实验验证了该方法。我们通过CBF的视角，考虑了一种基于零力矩点条件的安全度量。然而，这些条件依赖于时变且含噪声的参数。为解决此问题，我们提出了一种基于微分器的安全关键控制器，该控制器估计这些参数，并将输入到状态稳定的微分器动力学与控制屏障函数相结合，以实现严格的安全保证。此外，为确保在存在扰动情况下的安全性，我们采用了投影到状态安全性的时变扩展。通过在具有陡坡侧翻风险的履带式机器人上进行实验，验证了所提方法的有效性。