状態依存方向性距離指標を用いた高速かつ安全な経路追従制御
Fast and Safe Path-Following Control using a State-Dependent Directional Metric
二次形式の状態依存距離指標から得られる楕円体軌道境界を利用し、局所環境の形状に適応して障害物を賢く回避しながら経路を高速追従する制御則を提案した。
著者: Zhichao Li, Omur Arslan, Nikolay Atanasov
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper considers the problem of fast and safe autonomous navigation in partially known environments. Our main contribution is a control policy design based on ellipsoidal trajectory bounds obtained from a quadratic state-dependent distance metric. The ellipsoidal bounds are used to embed directional preference in the control design, leading to system behavior that is adapted to the local environment geometry, carefully considering medial obstacles while paying less attention to lateral ones. We use a virtual reference governor system to adaptively follow a desired navigation path, slowing down when system safety may be violated and speeding up otherwise. The resulting controller is able to navigate complex environments faster than common Euclidean-norm and Lyapunov-function-based designs, while retaining stability and collision avoidance guarantees.
