Polygonal Cone Control Barrier Functions (PolyC2BF) for Safe Navigation in Cluttered Environments

Tayal, M and Kolathaya, S (2024) Polygonal Cone Control Barrier Functions (PolyC2BF) for Safe Navigation in Cluttered Environments. In: 2024 European Control Conference, ECC 2024, 25 June 2024through 28 June 2024, Stockholm, pp. 2212-2217.

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Abstract

In fields such as mining, search and rescue, and archaeological exploration, ensuring real-time, collision-free navigation of robots in confined, cluttered environments is imperative. Despite the value of established path planning algorithms, they often face challenges in convergence rates and handling dynamic infeasibilities. Alternative techniques like collision cones struggle to accurately represent complex obstacle geometries. This paper introduces a novel category of control barrier functions, known as Polygonal Cone Control Barrier Function (PolyC2BF), which addresses overestimation and computational complexity issues. The proposed PolyC2BF, formulated as a Quadratic Programming (QP) problem, proves effective in facilitating collision-free movement of multiple robots in complex environments. The efficacy of this approach is further demonstrated through PyBullet simulations on quadruped (unicycle model), and crazyflie 2.1 (quadrotor model) in cluttered environments. © 2024 EUCA.

Item Type:	Conference Paper
Publication:	2024 European Control Conference, ECC 2024
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Publisher.
Keywords:	Quadratic programming; Robot programming, Barriers functions; Cluttered environments; Collision-free; Control barriers; Convergence rates; In-field; Path-planning algorithm; Real- time; Safe navigations; Search and rescue, Motion planning
Department/Centre:	Division of Interdisciplinary Sciences > Robert Bosch Centre for Cyber Physical Systems
Date Deposited:	03 Sep 2024 06:13
Last Modified:	03 Sep 2024 06:13
URI:	http://eprints.iisc.ac.in/id/eprint/86034

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