A Superellipse-Like Barrier Design for Multi-Robot Obstacle Avoidance in Formation Motion

This paper focuses on the innovative application of a barrier function design utilizing a superellipse shape to address challenges in obstacle avoidance within the context of multi-robot formation motion. The obstacle regions are covered by a superellipse-like control barrier function (CBF) that delineates a trajectory around the function’s tangent direction. When robots engage in multi-robot formation motion and approach the proximity of obstacles, the activated CBF controller steers each robot away from the obstacles and at the same time ensures a smooth progression along the planned trajectory. This superellipse-like barrier design accommodates a broader range of obstacle shapes, facilitating effective obstacle avoidance and reducing the overall time required, as substantiated by the experimental results.