確率的制約付きRRTによる都市航空モビリティの安全な経路計画
Probabilistic Guaranteed Path Planning for Safe Urban Air Mobility Using Chance Constrained RRT
不確かな障害物がある環境で、確率制約をRRTに組み込み、確率的な衝突回避を保証する経路計画手法を提案した論文。
著者: Pengcheng Wu, Lin Li, Junfei Xie, Jun Chen
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Safety is a critical concern for the success of urban air mobility, especially in dynamic and uncertain environments. This paper proposes a path planning algorithm based on RRT in conjunction with chance constraints in the presence of uncertain obstacles. The chance-constrained formulation for Gaussian distributed obstacles is developed by converting the probabilistic constraints to deterministic constraints in terms of distribution parameters. The probabilistic feasible region at every time step can be established through the simulation of the system state and the evaluation of convex constraints. Through establishing chance-constrained RRT, the algorithm not only enjoys the benefits of sampling-based algorithms but also incorporates uncertainty into the formulation. Simulation results demonstrate that the planning for a trajectory connecting the starting and goal point in accordance with the requirement of probabilistic obstacle avoidance can be achieved by the utilization of this algorithm.
