This work presents a unified approach for collision avoidance using Collision-Cone Control Barrier Functions (CBFs) in both ground (UGV) and aerial (UAV) unmanned vehicles. We propose a novel CBF formulation inspired by collision cones, to ensure safety by constraining the relative velocity between the vehicle and the obstacle to always point away from each other. The efficacy of this approach is demonstrated through simulations and hardware implementations on the TurtleBot, Stoch-Jeep, and Crazyflie 2.1 quadrotor robot, showcasing its effectiveness in avoiding collisions with dynamic obstacles in both ground and aerial settings. The real-time controller is developed using CBF Quadratic Programs (CBF-QPs). Comparative analysis with the state-of-the-art CBFs highlights the less conservative nature of the proposed approach. Overall, this research contributes to a novel control formation that can give a guarantee for collision avoidance in unmanned vehicles by modifying the control inputs from existing path-planning controllers.

翻译：本文提出了一种统一的方法，通过碰撞锥控制障碍函数（CBF）实现地面无人车辆（UGV）和空中无人飞行器（UAV）的避碰。我们提出了一种受碰撞锥启发的新型CBF公式，通过约束车辆与障碍物之间的相对速度始终指向远离彼此的方向，确保安全性。通过TurtleBot、Stoch-Jeep和Crazyflie 2.1四旋翼机器人的仿真与硬件实现，验证了该方法在地面和空中场景中避免动态障碍碰撞的有效性。实时控制器基于CBF二次规划（CBF-QP）开发。与现有最先进CBF的对比分析突出了所提方法保守性较低的优点。总体而言，本研究贡献了一种新颖的控制范式，通过修改现有路径规划控制器的控制输入，可为无人飞行器的避碰提供保证。