论文标题
安全设计的计划者 - 轨迹综合
Safe-by-Design Planner-Tracker Synthesis
论文作者
论文摘要
我们使用系统模型的层次结构为非线性动力学系统提供了一个安全的设计轨迹计划和跟踪框架。计划层使用低保真模型来计划满足计划限制的可行轨迹，并且跟踪层利用高保真模型来设计一个控制器，该控制器限制了在有限集合的低效率和高效率模型之间的误差状态。低保真模型使计划可以在线执行（例如，使用模型预测控制）和跟踪控制器和错误界限脱机（例如，使用平方符号编程）。为了在选择低保真模型中提供自由，我们允许跟踪误差依赖于计划者的状态和输入。本文的目的是提供对这个层次结构框架的教程审查，并用示例进行说明，包括避免车辆障碍物的设计。
We present a safe-by-design trajectory planning and tracking framework for nonlinear dynamical systems using a hierarchy of system models. The planning layer uses a low-fidelity model to plan a feasible trajectory satisfying the planning constraints, and the tracking layer utilizes the high-fidelity model to design a controller that restricts the error states between the low- and high-fidelity models to a bounded set. The low-fidelity model enables the planning to be performed online (e.g. using Model Predictive Control) and the tracking controller and error bound are derived offline (e.g. using sum-of-squares programming). To provide freedom in the choice of the low-fidelity model, we allow the tracking error to depend on both the states and inputs of the planner. The goal of this article is to provide a tutorial review of this hierarchical framework and to illustrate it with examples, including a design for vehicle obstacle avoidance.
