This paper develops rollover prevention guarantees for mobile robots using control barrier function (CBF) theory, and demonstrates these formal results experimentally. To this end, we consider a safety measure based on the zero moment point to provide conditions on the control input through the lens of CBFs. However, these conditions depend on time-varying and noisy parameters. To address this, 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 guarantees of safety. Additionally, to ensure safety in the presence of disturbance, we utilize a time-varying extension of Projection-to-State Safety (PSSf). The effectiveness of the proposed method is demonstrated through experiments on a tracked robot with a rollover potential on steep slopes.

翻译：本文利用控制屏障函数（CBF）理论为移动机器人建立了防侧翻安全保障，并通过实验验证了这些理论结果。为此，我们基于零力矩点设计了一种安全度量，通过CBF的视角为控制输入提供约束条件。然而，这些条件依赖于时变且含噪声的参数。为解决这一问题，我们提出了一种基于微分器的安全关键控制器，该控制器可估计这些参数，并将输入到状态稳定（ISS）微分器动力学与CBF相结合，以实现严格的安全保障。此外，为确保存在扰动时的安全性，我们采用了投影到状态安全性（PSSf）的时变扩展方法。通过在具有陡坡侧翻风险的履带式机器人上进行的实验，验证了所提方法的有效性。