Trajectory-Tracking Control Considering Obstacle Avoidance by using Control Barrier Function

In recent years, control barrier functions (CBFs) have been used in the investigation of obstacle avoidance control problems for moving objects. Among them, the relaxed control barrier function (relaxed CBF) is easy to design, and has been applied to human assist control problems. In this study, the relaxed CBF was applied to the trajectory tracking control of nonlinear systems. A convex optimization-based controller design method is proposed to achieve both trajectory tracking and obstacle avoidance. The effectiveness of the proposed controller is demonstrated by the results obtained from the computer simulation of a two-wheel mobile robot.