This academic article introduces an experimental platform for validating a new class of Control Barrier Functions (CBFs) designed for Unmanned Ground Vehicles (UGVs). The aim is to prevent collisions with kinematic obstacles by integrating the concept of collision cones. The new CBF formulation guarantees safety for both unicycle and bicycle models by aligning the obstacle’s velocity away from the vehicle. This methodology is validated through simulations and experimental verification on a Copernicus mobile robot and FOCAS-Car.
Publication date: 18 Oct 2023
Project Page: Not Provided
Paper: https://arxiv.org/pdf/2310.10839
