simulation_of_figure1

simulation_of_figure1.m shows that the result of the proposed safety controller.

Experiment Video

https://youtu.be/1ZYH-ydpLhw

or

https://www.bilibili.com/video/BV17S4y1F77D

Paper

Continuous Safety Control of Mobile Robots in Cluttered Environments https://ieeexplore.ieee.org/document/9811271 10.1109/LRA.2022.3187492

@article{Wu-Liu-Niu-Jiang-RAL-2022,
  title={Continuous Safety Control of Mobile Robots in Cluttered Environments},
  author={Wu, Si and Liu, Tengfei and Niu, Qinglin and Jiang, Zhong-Ping},
  journal={IEEE Robotics and Automation Letters},
  volume={7},
  number={3},
  pages={8012--8019},
  year={2022},
  publisher={IEEE}
}