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Safety-critical control of robotic systems in webots using control barrier functions
Acharya, Aaditya
Acharya, Aaditya
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t25036_Acharya.pdf
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2025-07
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This thesis develops and validates a safety-critical control framework for autonomous differential-drive robots using Control Barrier Functions (CBFs), integrating idealized Pnumerical case studies in Python with physics-based simulations of an e-puck robot in Webots environment. Reduced-order kinematic models are utilized for control design to achieve obstacle avoidance, and CBF-based safety filters are applied at the velocity level to enforce forward-invariance of safety sets in real time. Sensitivity analyses on control parameters reveal the trade-offs clearance to obstacles and the trajectory smoothness. In Webots, the e-puck executes both avoidance and braking maneuvers under realistic sensor latencies, actuator delays, and friction, confirming that safety constraints remain invariant and that key metrics (path length, and minimum clearance) deviate by less than 7 % from Python results. The findings yield practical parameter guidelines and demonstrate a pipeline from simplified models to real systems, laying a scalable foundation for deploying CBF-based safety controllers on real robotic systems.
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Thesis (M.S.)-- Wichita State University, College of Engineering, Dept. of Mechanical Engineering
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Wichita State University
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© Copyright 2025 by Aaditya Acharya
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