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Performing swift and agile maneuvers is essential for the safe operation ofautonomous mobile robots. Moreover, the presence of time-delay restricts theresponse time of the system and hinders the safety performance. Thus, thispaper proposes a modular and scalable safety-control design that utilizes theSmith predictor and barrier certificates to safely and consistently avoidobstacles with different footprints. The proposed solution includes a two-layerpredictor to compensate for the time-delay in the servo-system and anglecontrol loops. The proposed predictor configuration dramatically improves thetransient performance and reduces response time. Barrier certificates are usedto determine the safe range of the robot's heading angle to avoid collisions.The proposed obstacle avoidance technique conveniently integrates with varioustrajectory tracking algorithms, which enhances design flexibility. The anglecondition is adaptively calculated and corrects the robot's heading angle andangular velocity. Also, the proposed method accommodates multiple obstacles anddecouples the control structure from the obstacles' shape, count, anddistribution. The control structure has only eight tunable parametersfacilitating control calibration and tuning in large systems of mobile robots.Extensive experimental results verify the effectiveness of the proposedsafety-control.

Safety-Control of Mobile Robots Under Time-Delay Using Barrier Certificates and a Two-Layer Predictor