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This paper considers collision avoidance for vehicles with first-ordernonholonomic constraints maintaining nonzero forward speeds, moving withindynamic environments. We leverage the concept of control barrier functions(CBFs) to synthesize control inputs that prioritize safety, where the safetycriteria are derived from the velocity obstacle principle. Existinginstantiations of CBFs for collision avoidance, e.g., based on maintaining aminimal distance, can result in control inputs that make the vehicle stop oreven reverse. The proposed formulation effectively separates speed control fromsteering, allowing the vehicle to maintain a forward motion withoutcompromising safety. This is beneficial for ensuring that the vehicle advancestowards its desired destination, and it is moreover an underlying requirementfor certain vehicles such as marine vessels and fixed-wing UAVs. Theoreticalsafety guarantees are provided, and numerical simulations demonstrate theefficiency of the strategy in environments containing moving obstacles.

Safety-Critical Control of Nonholonomic Vehicles in Dynamic Environments using Velocity Obstacles