混雑した動的・不確実環境における安全な階層型ナビゲーション
Safe Hierarchical Navigation in Crowded Dynamic Uncertain Environments
動的ギャップ分析と軌道最適化による計画器と、リアルタイムで安全を監視・修正する安全集合アルゴリズムを組み合わせ、混雑した不確実環境で衝突を避けながら移動する階層型ナビゲーション手法を提案した論文。
著者: Hongyi Chen, Shiyu Feng, Ye Zhao, Changliu Liu, Patricio A. Vela
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper describes a hierarchical solution consisting of a multi-phase planner and a low-level safe controller to jointly solve the safe navigation problem in crowded, dynamic, and uncertain environments. The planner employs dynamic gap analysis and trajectory optimization to achieve collision avoidance with respect to the predicted trajectories of dynamic agents within the sensing and planning horizon and with robustness to agent uncertainty. To address uncertainty over the planning horizon and real-time safety, a fast reactive safe set algorithm (SSA) is adopted, which monitors and modifies the unsafe control during trajectory tracking. Compared to other existing methods, our approach offers theoretical guarantees of safety and achieves collision-free navigation with higher probability in uncertain environments, as demonstrated in scenarios with 20 and 50 dynamic agents. Project website: https://hychen-naza.github.io/projects/HDAGap/.
