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Safe Motion Planning and Control for Mobile Robots: A Survey

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Abstract

Control engineering has made significant progress in addressing various challenges for real-world applications. For the next stage of robotics automation, it is necessary to guarantee formal safety as well as conventional control tasks including set point stabilization and trajectory tracking. This survey focuses on a review of safe motion planning and control, especially for mobile robots. We explore various advancements in safety-critical control problems that can ultimately be formulated as an ideal infinite-horizon optimal control, and classify them into two clusters: 1) receding horizon methods and 2) safety filtering approaches. Receding horizon methods, such as nonlinear model predictive control (NMPC) and reachability-based receding horizon motion planning, use finite-horizon sliding windows for tractability. Safety filtering methods, employing techniques such as control barrier function (CBF) and reference governor (RG), adjust nominal signals to enforce safety. This survey highlights the challenges of ensuring safety in dynamic and complex environments where mobile robots are deployed, where their computational limitations and uncertainties in dynamic models are significant factors. By providing a comprehensive review of current methodologies and specifying future research directions, we aim to offer a solid foundation for developing efficient safety-critical control methodologies for mobile robots.

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Authors and Affiliations

  1. Department of Aerospace Engineering and the Automation and Systems Research Institute (ASRI), Seoul National University, Seoul, 08826, Korea

    Sunwoo Hwang, Inkyu Jang, Dabin Kim & H. Jin Kim

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  1. Sunwoo Hwang
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  2. Inkyu Jang
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Correspondence to H. Jin Kim.

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H. Jin Kim is a Senior Editor of International Journal of Control, Automation, and Systems. Senior Editor status has no bearing on editorial consideration. The authors declare that there is no competing financial interest or personal relationship that could have appeared to influence the work reported in this paper.

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This research was supported by ITRC (IITP) (IITP-2024-RS-2024-00437268).

Sunwoo Hwang received his B.S. degree in mechanical engineering in 2022 from Seoul National University, Seoul, Korea, where he is currently working toward an integrated M.S./Ph.D. degree in aerospace engineering. His research interests include safety-critical control, motion planning, and aerial robotics.

Inkyu Jang received his B.S. degree in mechanical engineering from Seoul National University, Seoul, Korea, in 2020. Starting from 2020, he is currently working towards a Ph.D. degree in aerospace engineering at Seoul National University, Seoul, Korea. His research interests include safety-critical control and motion planning for mobile robots.

Dabin Kim received his B.S. degree from the Department of Mechanical and Aerospace Engineering at Seoul National University in 2019. He is currently pursuing a Ph.D. degree in mechanical and aerospace engineering at Seoul National University. His research interests include autonomous navigation, sensor-based planning, and safe motion planning.

H. Jin Kim received her B.S. degree from Korea Advanced Institute of Technology, Daejeon, Korea, in 1995, and her M.S. and Ph.D. degrees from University of California, Berkeley, Berkeley, CA, USA, in 1999 and 2001, respectively, all in mechanical engineering. From 2002 to 2004, she was a postdoctoral researcher with the Department of Electrical Engineering and Computer Science, University of California, Berkeley. In 2004, she joined the Department of Aerospace Engineering, Seoul National University, Seoul, Korea, where she is currently a professor and the head of the department. Her research interests include control and navigation of autonomous robotic systems, robot learning, and computer vision for robotics.

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Hwang, S., Jang, I., Kim, D. et al. Safe Motion Planning and Control for Mobile Robots: A Survey. Int. J. Control Autom. Syst. 22, 2955–2969 (2024). https://doi.org/10.1007/s12555-024-0784-5

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