A Feasibility-Enhanced Control Barrier Function Method for Multi-UAV Collision Avoidance
This addresses collision avoidance for multi-UAV systems, particularly in dense environments, with incremental improvements over prior methods.
The paper tackled the problem of multi-UAV collision avoidance in dense scenarios by developing a feasibility-enhanced control barrier function framework, which significantly reduced infeasibility and improved performance compared to existing baselines.
This paper presents a feasibility-enhanced control barrier function (FECBF) framework for multi-UAV collision avoidance. In dense multi-UAV scenarios, the feasibility of the CBF quadratic program (CBF-QP) can be compromised due to internal incompatibility among multiple CBF constraints. To address this issue, we analyze the internal compatibility of CBF constraints and derive a sufficient condition for internal compatibility. Based on this condition, a sign-consistency constraint is introduced to mitigate internal incompatibility. The proposed constraint is incorporated into a decentralized CBF-QP formulation using worst-case estimates and slack variables. Simulation results demonstrate that the proposed method significantly reduces infeasibility and improves collision avoidance performance compared with existing baselines in dense scenarios. Additional simulations under varying time delays demonstrate the robustness of the proposed method. Real-world experiments validate the practical applicability of the proposed method.