  Recently, there has been increasing attention in robot research towards the
whole-body collision avoidance. In this paper, we propose a safety-critical
controller that utilizes time-varying control barrier functions (time varying
CBFs) constructed by Robo-centric Euclidean Signed Distance Field (RC-ESDF) to
achieve dynamic collision avoidance. The RC-ESDF is constructed in the robot
body frame and solely relies on the robot's shape, eliminating the need for
real-time updates to save computational resources. Additionally, we design two
control Lyapunov functions (CLFs) to ensure that the robot can reach its
destination. To enable real-time application, our safety-critical controller
which incorporates CLFs and CBFs as constraints is formulated as a quadratic
program (QP) optimization problem. We conducted numerical simulations on two
different dynamics of an L-shaped robot to verify the effectiveness of our
proposed approach.
