基于集的碰撞检测与规避预测控制

J. Crowley, Yegeta Zeleke, Berk Altm, R. Sanfelice
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引用次数: 4

摘要

我们提出了一种基于集合的预测控制框架来预测入站动态障碍物并优化轨迹,以安全引导车辆驶向目标。为了考虑不确定性,基于集合的控制器对传统模型预测控制进行了推广,并预测了动态系统状态可能属于的集合。利用这一推广将避碰作为基于集合的预测控制算法中的硬约束。作为概念验证,所提出的框架应用于地面车辆试图到达目标,同时在操作环境中预测和避开与障碍物的碰撞。文中还讨论了该控制器的其他应用以及相关的最优控制问题。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Set-Based Predictive Control for Collision Detection and Evasion
We propose a set-based predictive control frame-work to predict inbound dynamic obstacles and optimize trajectories in the interest of safely guiding a vehicle towards a target. To account for uncertainties, the set-based controller generalizes conventional model predictive control and predicts the set that the state of a dynamical system might belong to. This generalization is used to formulate collision avoidance as a hard constraint in the set-based predictive control algorithm. As a proof-of-concept, the proposed framework is applied to a ground vehicle attempting to reach a target while anticipating and evading collisions with obstacles in the operating environment. Other applications of the controller and the associated optimal control problem are discussed.
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