Name
Abstract | ||
|---|---|---|
In this paper, we extend a recently introduced motion planningframeworkforautonomousvehiclesbasedona maneuver automaton representation of the vehicle dy- namics. Webringrobustnessintotheguidancesystem byaccountingfortheuncertaintiesinthemotionprimi- tivesusedbythemaneuverautomaton. Theuncertain- tiesaretakenintoaccountintheo†inecomputationof a guidance function, as well as in a real-time planning policy. Weillustrateourapproachusingahigh-fldelity simulation model of MIT's autonomous X-Cell minia- turehelicopter,andpresentanexamplethathighlights the performance improvement over the original frame- work. We demonstrate that, when uncertainties are present, a nominal planning policy generates subopti- mal trajectories in both open- and closed-loop guid- ance, and that trajectories obtained by applying the robust policy are less sensitive to perturbations in the motion primitives. |
Year | DOI | Venue |
|---|---|---|
2003 | 10.1109/ACC.2003.1243402 | american control conference |
Keywords | DocType | Volume |
aircraft navigation,closed loop systems,dynamic programming,helicopters,path planning,real-time systems,vehicle dynamics,autonomous X-Cell miniature helicopter,built-in uncertainties,closed loop guidance,dynamic programming,guidance system,high fidelity simulation model,maneuver automation,perturbations,real time planning policy,robust motion planning,suboptimal trajectories,vehicle dynamics | Conference | 3 |
ISSN | Citations | PageRank |
0743-1619 | 6 | 0.63 |
References | Authors | |
1 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Tom Schouwenaars | 1 | 90 | 8.50 |
| Bernard Mettler | 2 | 191 | 13.19 |
| Eric Feron | 3 | 7 | 0.98 |
| Jonathan How | 4 | 1759 | 185.09 |