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Paper Abstract and Keywords
Presentation 2025-12-03 10:00
Collision Avoidance Control for Four-Wheeled Vehicles Using Control Barrier Functions Based on Body-fixed Frames
Kohta Banshodani, Yuh Yamashita, Koichi Kobayashi (Hokkaido Univ.) WBS2025-34 ITS2025-13 RCC2025-33
Abstract (in Japanese) (See Japanese page) 
(in English) This paper proposes a computationally efficient, shape-conscious collision avoidance method for four-wheeled vehicles using control barrier functions (CBFs) to guarantee system safety. The method addresses two key challenges: the high computational cost of shape-aware distance calculations (typically QPs) and non-convex input constraint. To solve these, we first introduce a body-fixed frame to simplify the problem formulation using relative states. Second, the distance calculation is formulated using the 1-norm, enabling an efficient linear programming (LP) solution. Third, the non-convex constraint is handled by splitting the input space into two convex regions. The CBF controller is integrated with a control Lyapunov function (CLF) based nominal controller, and its effectiveness is validated through simulations.
Keyword (in Japanese) (See Japanese page) 
(in English) nonlinear system control / control barrier function / linear programming / mobile robot / obstacle avoidance / / /  
Reference Info. IEICE Tech. Rep., vol. 125, no. 266, RCC2025-33, pp. 1-6, Dec. 2025.
Paper # RCC2025-33 
Date of Issue 2025-11-26 (WBS, ITS, RCC) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF WBS2025-34 ITS2025-13 RCC2025-33

Conference Information
Committee RCC ITS WBS  
Conference Date 2025-12-03 - 2025-12-04 
Place (in Japanese) (See Japanese page) 
Place (in English) B-Con Plaza (Beppu) 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To RCC 
Conference Code 2025-12-RCC-ITS-WBS 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Collision Avoidance Control for Four-Wheeled Vehicles Using Control Barrier Functions Based on Body-fixed Frames 
Sub Title (in English)  
Keyword(1) nonlinear system control  
Keyword(2) control barrier function  
Keyword(3) linear programming  
Keyword(4) mobile robot  
Keyword(5) obstacle avoidance  
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1st Author's Name Kohta Banshodani  
1st Author's Affiliation Hokkaido Univercity (Hokkaido Univ.)
2nd Author's Name Yuh Yamashita  
2nd Author's Affiliation Hokkaido Univercity (Hokkaido Univ.)
3rd Author's Name Koichi Kobayashi  
3rd Author's Affiliation Hokkaido Univercity (Hokkaido Univ.)
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Speaker Author-1 
Date Time 2025-12-03 10:00:00 
Presentation Time 25 minutes 
Registration for RCC 
Paper # WBS2025-34, ITS2025-13, RCC2025-33 
Volume (vol) vol.125 
Number (no) no.264(WBS), no.265(ITS), no.266(RCC) 
Page pp.1-6 
#Pages 6 
Date of Issue 2025-11-26 (WBS, ITS, RCC) 

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