Corridor-based Adaptive Control Barrier and Lyapunov Functions for Safe Mobile Robot Navigation

-- Safe navigation in unknown and cluttered environments remains a challenging problem in robotics. Model Predictive Contour Control (MPCC) has shown promise for performant obstacle avoidance by enabling precise and agile trajectory tracking, however, existing methods lack formal safety assurances. T o address this issue, we propose a general Control Lyapunov Function (CLF) and Control Barrier Function (CBF) enabled MPCC framework that enforces safety constraints derived from a free-space corridor around the planned trajectory. T o enhance feasibility, we dynamically adapt the CBF parameters at runtime using a Soft Actor-Critic (SAC) policy. The approach is validated with extensive simulations and an experiment on mobile robot navigation in unknown cluttered environments.