SC3BF: Shifted Collision Cone Control Barrier Function for Dynamic Obstacle Avoidance
We propose the shifted collision-cone CBF (SC3BF), which adds a state-dependent allowance to the cone condition, so the robot may approach the obstacle at a rate that grows with distance and with its own speed.
ProofPaper ↗
Key points
- The collision cone used by velocity-space control barrier functions is conservative: it rejects every relative velocity aimed into an obstacle, however slow.
- SC3BF is enforced by an ordinary quadratic program, and its safe set is forward invariant under bounded inputs without a minimum forward speed or a clearance margin.
- We prove that a nonzero allowance preserving safety always exists, and derive one in closed form.
- Against three velocity-space baselines on a kinematic bicycle among up to $100$ moving obstacles, SC3BF reaches the goal more often and modifies the nominal input less than half as much.
Sources (1)
- [1]SC3BF: Shifted Collision Cone Control Barrier Function for Dynamic Obstacle AvoidancearXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 6, 01:30 PM
We propose the shifted collision-cone CBF (SC3BF), which adds a state-dependent allowance to the cone condition, so the robot may approach the obstacle at a rate that grows with distance and with its own speed.
The collision cone used by velocity-space control barrier functions is conservative: it rejects every relative velocity aimed into an obstacle, however slow.
Extractive summary: sentences quoted from the sources.