Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance
Andrew Singletary,Karl Klingebiel,Joseph Bourne,Andrew Browning,Phil Tokumaru,Aaron Ames,Andrew Singletary,Karl Klingebiel,Joseph Bourne,Andrew Browning,Phil Tokumaru,Aaron Ames
Artificial potential fields (APFs) and their variants have been a staple for collision avoidance of mobile robots and manipulators for almost 40 years. Its model-independent nature, ease of implementation, and real-time performance have played a large role in its continued success over the years. Control barrier functions (CBFs), on the other hand, are a more recent development, commonly used to g...
