ゲートキーパー：動的環境における非線形システムのオンライン安全検証と制御
gatekeeper: Online Safety Verification and Control for Nonlinear Systems in Dynamic Environments
限られたセンシング情報のもとでも非線形システムの軌道が安全制約を満たすことを保証する、リアルタイムかつ軽量な検証アルゴリズムを提案し、消防ミッションのシミュレーションと障害物環境を飛行するクアッドロータの実験で有効性を示した。
著者: Devansh R Agrawal, Ruichang Chen, Dimitra Panagou
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper presents the gatekeeper algorithm, a real-time and computationally-lightweight method that ensures that trajectories of a nonlinear system satisfy safety constraints despite sensing limitations. gatekeeper integrates with existing path planners and feedback controllers by introducing an additional verification step to ensure that proposed trajectories can be executed safely, despite nonlinear dynamics subject to bounded disturbances, input constraints and partial knowledge of the environment. Our key contribution is that (A) we propose an algorithm to recursively construct safe trajectories by numerically forward propagating the system over a (short) finite horizon, and (B) we prove that tracking such a trajectory ensures the system remains safe for all future time, i.e., beyond the finite horizon. We demonstrate the method in a simulation of a dynamic firefighting mission, and in physical experiments of a quadrotor navigating in an obstacle environment that is sensed online. We also provide comparisons against the state-of-the-art techniques for similar problems.
