A MATLAB simulation of a unicycle mobile robot performing obstacle avoidance using Control Barrier Functions (CBF) and Control Lyapunov Functions (CLF).
This project demonstrates how to combine safety (avoid obstacles) and goal convergence (reach target) using quadratic programming.
- Quadratic Program (QP) formulation for real-time control
- CBF ensures safety around circular obstacles
- CLF guarantees convergence to a goal position
- Visualizes robot trajectory, obstacles, and goal
- Easy to modify for different obstacles, goals, or robot parameters
- MATLAB R2016a or newer (requires
quadprogfrom Optimization Toolbox)