Safety-critical model predictive tracking control for a Mecanum-wheeled mobile robot via control barrier functions

This paper explores the safety tracking problem of a four Mecanum-wheeled mobile robot (MWMR) using a model predictive control (MPC) framework enhanced by control barrier functions (CBFs). First, by leveraging the MWMR’s inherent constraints, the kinematic equation is transformed into error dynamics, reformulating the trajectory tracking problem as a set-point regulation problem. Next, to enable the MWMR to avoid obstacles encountered on the reference trajectory during navigation, a CBF-based inequality safety constraint is designed using the distance function to the obstacle. Then, an MPC formulation is developed, integrating the error dynamics and CBF-based constraint to guarantee system safety while optimizing tracking performance. Finally, simulations validate the effectiveness of the proposed MPC-based safety tracking control strategy.