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Unmanned aerial vehicles (UAVs), specifically quadrotors, have revolutionizedvarious industries with their maneuverability and versatility, but their safeoperation in dynamic environments heavily relies on effective collisionavoidance techniques. This paper introduces a novel technique for safelynavigating a quadrotor along a desired route while avoiding kinematicobstacles. The proposed approach employs control barrier functions and utilizescollision cones to ensure that the quadrotor's velocity and the obstacle'svelocity always point away from each other. In particular, we propose a newconstraint formulation that ensures that the relative velocity between thequadrotor and the obstacle always avoids a cone of vectors that may lead to acollision. By showing that the proposed constraint is a valid control barrierfunction (CBFs) for quadrotors, we are able to leverage on its real-timeimplementation via Quadratic Programs (QPs), called the CBF-QPs. We validatethe effectiveness of the proposed CBF-QPs by demonstrating collision avoidancewith moving obstacles under multiple scenarios. This is shown in the pybulletsimulator.Furthermore we compare the proposed approach with CBF-QPs shown inliterature, especially the well-known higher order CBF-QPs (HO-CBF-QPs), wherein we show that it is more conservative compared to the proposed approach. Thiscomparison also shown in simulation in detail.

Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach