A Collision Cone Approach for Control Barrier Functions
arxiv(2024)
摘要
This work presents a unified approach for collision avoidance using
Collision-Cone Control Barrier Functions (CBFs) in both ground (UGV) and aerial
(UAV) unmanned vehicles. We propose a novel CBF formulation inspired by
collision cones, to ensure safety by constraining the relative velocity between
the vehicle and the obstacle to always point away from each other. The efficacy
of this approach is demonstrated through simulations and hardware
implementations on the TurtleBot, Stoch-Jeep, and Crazyflie 2.1 quadrotor
robot, showcasing its effectiveness in avoiding collisions with dynamic
obstacles in both ground and aerial settings. The real-time controller is
developed using CBF Quadratic Programs (CBF-QPs). Comparative analysis with the
state-of-the-art CBFs highlights the less conservative nature of the proposed
approach. Overall, this research contributes to a novel control formation that
can give a guarantee for collision avoidance in unmanned vehicles by modifying
the control inputs from existing path-planning controllers.
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