Collision Cone Control Barrier Function

Abstract

Course project developing safety barriers for UAV obstacle avoidance using Control Barrier Functions (CBF) combined with the collision cone approach. Provides formal safety guarantees for collision-free flight.

Methodology

• Collision Cone: Geometric approach to determine collision-prone configurations
• CBF formulation: Encode safety as forward invariant set
• Quadratic Program: Real-time CBF-QP controller

Results

Demonstrated guaranteed safety in simulation with multiple static and moving obstacles. The CBF controller ensures the UAV maintains safe distance while tracking reference trajectories.