Moving body robust safety control method based on laser point cloud and obstacle function

The invention relates to a moving body robust safety control method based on a laser point cloud and a barrier function. The method comprises the following steps: S1, establishing an omnidirectional moving body kinematic model with multiplicative interference; s2, establishing an obstacle measurement model according to the position of the moving body and the measurement direction of the laser radar; s3, performing regularization processing on the obstacle measurement model to obtain a regularized measurement model; s4, establishing a candidate zero-crossing obstacle function based on a regularization measurement model, and constructing a security constraint based on a kinematic model; and S5, modifying the security constraint by using a positive basis, and constructing a robust security controller for solving a constraint optimization problem by combining quadratic programming, a zero-crossing obstacle function and a nominal speed, and obtaining the control quantity v of the moving body at the moment by solvi