  In this paper, we propose a new class of Control Barrier Functions (CBFs) for
Unmanned Ground Vehicles (UGVs) that help avoid collisions with kinematic
(non-zero velocity) obstacles. While the current forms of CBFs have been
successful in guaranteeing safety/collision avoidance with static obstacles,
extensions for the dynamic case have seen limited success. Moreover, with the
UGV models like the unicycle or the bicycle, applications of existing CBFs have
been conservative in terms of control, i.e., steering/thrust control has not
been possible under certain scenarios. Drawing inspiration from the classical
use of collision cones for obstacle avoidance in trajectory planning, we
introduce its novel CBF formulation with theoretical guarantees on safety for
both the unicycle and bicycle models. The main idea is to ensure that the
velocity of the obstacle w.r.t. the vehicle is always pointing away from the
vehicle. Accordingly, we construct a constraint that ensures that the velocity
vector always avoids a cone of vectors pointing at the vehicle. The efficacy of
this new control methodology is later verified by Pybullet simulations on
TurtleBot3 and F1Tenth.
