Trajectory planning under environmental uncertainty with finite-sample safety guarantees

DOI10.1016/J.AUTOMATICA.2021.109754MaRDI QIDQ2665401zbMATH OpenOpenAlexFDO

Authors Vasileios Lefkopoulos, Maryam Kamgarpour

Publication date 19 November 2021

Published in Automatica (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://arxiv.org/abs/2108.06250

zbMATH Keywords

autonomous vehicleschance constraintsstochastic optimal controltrajectory planning

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Optimal stochastic control (93E20)

Abstract: We tackle the problem of trajectory planning in an environment comprised of a set of obstacles with uncertain time-varying locations. The uncertainties are modeled using widely accepted Gaussian distributions, resulting in a chance-constrained program. Contrary to previous approaches however, we do not assume perfect knowledge of the moments of the distribution, and instead estimate them through finite samples available from either sensors or past data. We derive tight concentration bounds on the error of these estimates to sufficiently tighten the chance-constraint program. As such, we provide provable guarantees on satisfaction of the chance-constraints corresponding to the nominal yet unknown moments. We illustrate our results with two autonomous vehicle trajectory planning case studies.

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Cites work

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Cited in

(3)

• Fastest motion planning for an unmanned vehicle in the presence of accelerating obstacles
• Reliably Safe Path Planning Using Interval Analysis
• Motion Planning Under Uncertainty with Complex Agents and Environments via Hybrid Search

Describes a project that uses

Uses Software

• CPLEX
• YALMIP
• Robotics

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