不確実性下におけるロバスト化された時間最適点間運動計画と制御
Robustified Time-optimal Point-to-point Motion Planning and Control under Uncertainty
不確実性を考慮し、固定時間グリッドの第1段階と可変時間グリッドの第2段階を組み合わせたロバスト2段階最適制御問題を定式化し、フィードバックゲインと状態共分散を最適化することで時間最適性と安全性を両立する手法を提案。
著者: Shuhao Zhang, Jan Swevers
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper proposes a novel approach to formulate time-optimal point-to-point motion planning and control under uncertainty. The approach defines a robustified two-stage Optimal Control Problem (OCP), in which stage 1, with a fixed time grid, is seamlessly stitched with stage 2, which features a variable time grid. Stage 1 optimizes not only the nominal trajectory, but also feedback gains and corresponding state covariances, which robustify constraints in both stages. The outcome is a minimized uncertainty in stage 1 and a minimized total motion time for stage 2, both contributing to the time optimality and safety of the total motion. A timely replanning strategy is employed to handle changes in constraints and maintain feasibility, while a tailored iterative algorithm is proposed for efficient, real-time OCP execution.
