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<p>This paper focuses on the collision avoidance of multiple UAVs using collision cones (CCs) and control barrier functions (CBFs). Each UAV is separately controlled toward a given goal while avoiding collision with other UAVs, which are considered moving obstacles. We first propose a new collision avoidance control method based on CCs and CBFs without numerical optimization. This method significantly lowers computational costs compared to existing optimization-based approaches. In addition, we propose a new optimization-based method using CCs and CBFs. A key feature of the proposed method is that the desired control input used in numerical optimization is modified based on CCs and CBFs, in contrast to existing methods that use a desired control input designed without considering obstacles. We evaluate and compare the effectiveness of the proposed methods through extensive simulations. Experimental results using real quadrotors are also shown.</p>

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Collision avoidance control of multiple UAVs using collision cones and control barrier functions

  • 期刊论文

  • 发表日期：

    2025年4月25日

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  • Thiviyathinesvaran Palani,
  • Supuni Wijesundera,
  • Hiroaki Fukushima

摘要

This paper focuses on the collision avoidance of multiple UAVs using collision cones (CCs) and control barrier functions (CBFs). Each UAV is separately controlled toward a given goal while avoiding collision with other UAVs, which are considered moving obstacles. We first propose a new collision avoidance control method based on CCs and CBFs without numerical optimization. This method significantly lowers computational costs compared to existing optimization-based approaches. In addition, we propose a new optimization-based method using CCs and CBFs. A key feature of the proposed method is that the desired control input used in numerical optimization is modified based on CCs and CBFs, in contrast to existing methods that use a desired control input designed without considering obstacles. We evaluate and compare the effectiveness of the proposed methods through extensive simulations. Experimental results using real quadrotors are also shown.