不変楕円体と参照ガバナによる混雑環境での安全なロボットナビゲーション
Safe Robot Navigation in Cluttered Environments using Invariant Ellipsoids and a Reference Governor
局所的な障害物センシングのみを用い、不変楕円体による軌道境界と参照ガバナで速度を適応制御し、未知環境での安全な経路追従を理論保証付きで実現した。
著者: Zhichao Li, Thai Duong, Nikolay Atanasov
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
This paper considers the problem of safe autonomous navigation in unknown environments, relying on local obstacle sensing. We consider a control-affine nonlinear robot system subject to bounded input noise and rely on feedback linearization to determine ellipsoid output bounds on the closed-loop robot trajectory under stabilizing control. A virtual governor system is developed to adaptively track a desired navigation path, while relying on the robot trajectory bounds to slow down if safety is endangered and speed up otherwise. The main contribution is the derivation of theoretical guarantees for safe nonlinear system path-following control and its application to autonomous robot navigation in unknown environments.
