Publications
Detailed Information
Robust Trajectory Planning for a Multirotor against Disturbance based on Hamilton-Jacobi Reachability Analysis
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Seo, Hoseong | - |
dc.contributor.author | Lee, Donggun | - |
dc.contributor.author | Son, Clark Youngdong | - |
dc.contributor.author | Tomlin, Claire J. | - |
dc.contributor.author | Kim, H. Jin | - |
dc.date.accessioned | 2022-11-11T08:07:21Z | - |
dc.date.available | 2022-11-11T08:07:21Z | - |
dc.date.created | 2022-10-19 | - |
dc.date.issued | 2019-11 | - |
dc.identifier.citation | 2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), pp.3150-3157 | - |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.uri | https://hdl.handle.net/10371/187060 | - |
dc.description.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. | - |
dc.language | 영어 | - |
dc.publisher | IEEE | - |
dc.title | Robust Trajectory Planning for a Multirotor against Disturbance based on Hamilton-Jacobi Reachability Analysis | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/IROS40897.2019.8968126 | - |
dc.citation.journaltitle | 2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | - |
dc.identifier.wosid | 000544658402091 | - |
dc.identifier.scopusid | 2-s2.0-85079806955 | - |
dc.citation.endpage | 3157 | - |
dc.citation.startpage | 3150 | - |
dc.description.isOpenAccess | N | - |
dc.contributor.affiliatedAuthor | Kim, H. Jin | - |
dc.type.docType | Proceedings Paper | - |
dc.description.journalClass | 1 | - |
- Appears in Collections:
- Files in This Item:
- There are no files associated with this item.
Item View & Download Count
Items in S-Space are protected by copyright, with all rights reserved, unless otherwise indicated.