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Computer Science > Robotics
Title: Polygonal Cone Control Barrier Functions (PolyC2BF) for safe navigation in cluttered environments
(Submitted on 15 Nov 2023 (v1), last revised 27 Mar 2024 (this version, v2))
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.
Submission history
From: Manan Tayal [view email][v1] Wed, 15 Nov 2023 08:59:05 GMT (412kb,D)
[v2] Wed, 27 Mar 2024 11:06:49 GMT (413kb,D)
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