Lidar-Inertial Based Localization and Collision Avoidance in Unmanned Vehicles via Control Barrier Functions

To enhance localization reliability, we apply tightly-coupled methods that improve estimation precision through sensor integration, enabling real-time spatial awareness. To tackle realtime collision avoidance with unknown obstacles in the environment, we utilize Control Barrier Functions (CBFs) to ensure a safe distance is maintained between the vehicle and obstacles, allowing secure missions in dynamic environments. The integration of CBF with localization and path planning significantly enhances overall safety and enables real-time obstacle avoidance for unmanned vehicle navigation, particularly in scenarios with unforeseen obstacles. The proposed framework dynamically adjusts vehicle commands to avoid collisions, ensuring both reliable and safe operations. Simulations were conducted to verify the effectiveness of the developed controller.