Collision Cone Control Barrier Functions for Kinematic Obstacle Avoidance in UGVs

Thontepu, P and Goswami, BG and Tayal, M and Singh, N and Shyam Sundar, PI and Shyam Sundar, MG and Sundaram, S and Katewa, V and Kolathaya, S (2023) Collision Cone Control Barrier Functions for Kinematic Obstacle Avoidance in UGVs. In: UNSPECIFIED, pp. 293-298.

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Abstract

In this paper, we propose a new class of Control Barrier Functions (CBFs) for Unmanned Ground Vehicles (UGVs) that help avoid collisions with kinematic (non-zero velocity) obstacles. While the current forms of CBFs have been successful in guaranteeing safety/collision avoidance with static obstacles, extensions for the dynamic case have seen limited success. Moreover, with the UGV models like the unicycle or the bicycle, applications of existing CBFs have been conservative in terms of control, i.e., steering/thrust control has not been possible under certain scenarios. Drawing inspiration from the classical use of collision cones for obstacle avoidance in trajectory planning, we introduce its novel CBF formulation with theoretical guarantees on safety for both the unicycle and bicycle models. The main idea is to ensure that the velocity of the obstacle w.r.t.The vehicle is always pointing away from the vehicle. Accordingly, we construct a constraint that ensures that the velocity vector always avoids a cone of vectors pointing at the vehicle. The efficacy of this new control methodology is later verified by Pybullet simulations on TurtleBot3 and F1 Tenth. © 2023 IEEE.

Item Type:	Conference Paper
Publication:	2023 9th Indian Control Conference, ICC 2023 - Proceedings
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Intelligent vehicle highway systems; Kinematics, 'current; Barriers functions; Collisions avoidance; Control barriers; Nonzero velocities; Obstacles avoidance; Static obstacles; Thrust control; Vehicle modelling; Velocity obstacles, Ground vehicles
Department/Centre:	Division of Interdisciplinary Sciences > Robert Bosch Centre for Cyber Physical Systems
Date Deposited:	16 May 2024 05:14
Last Modified:	16 May 2024 05:14
URI:	https://eprints.iisc.ac.in/id/eprint/84510

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