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Robust Trajectory Planning for a Multirotor against Disturbance based on Hamilton-Jacobi Reachability Analysis
Cited 23 time in
Web of Science
Cited 26 time in Scopus
- Authors
- Issue Date
- 2019-11
- Publisher
- IEEE
- Citation
- 2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), pp.3150-3157
- Abstract
- Ensuring safety in trajectory planning of multirotor systems is an essential element for risk-free operation. Even if the generated trajectory is known to be safe in the planning phase, unknown disturbance during an actual operation can lead to a dangerous situation. This paper proposes safety-guaranteed receding horizon planning against unknown, but bounded, disturbances. We first characterize forward reachable set (FRS) of the system, the set of states after a certain duration considering all possible disturbances, using Hamilton-Jacobi (HJ) reachability analysis. To compute the FRSs in real-time, we conservatively approximate the true FRS and perform ellipsoidal parameterization on the FRSs. Using the FRSs, we can plan a robust trajectory that avoids risky regions and rapidly re-plan the trajectory when the system encounters sudden disturbance. The proposed method is validated through an experiment of avoiding obstacles in a wind.
- ISSN
- 2153-0858
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