论文标题
使用状态依赖性方向度量的快速安全路径遵循控制
Fast and Safe Path-Following Control using a State-Dependent Directional Metric
论文作者
论文摘要
本文考虑了在部分已知的环境中快速，安全自主导航的问题。我们的主要贡献是基于从二次状态依赖距离度量的椭圆形轨迹界限的控制策略设计。椭圆形界限用于在控制设计中嵌入方向偏好，从而导致系统行为适应了本地环境的几何形状，仔细考虑了内侧障碍，同时更少注意侧向障碍物。我们使用虚拟参考调节器系统适应性地遵循所需的导航路径，当可能违反系统安全性并否则加速时，会放慢速度。最终的控制器能够比普通的欧几里得 - 纳尔姆和基于lyapunov功能的设计更快地浏览复杂环境，同时保留稳定性和避免碰撞的保证。
This paper considers the problem of fast and safe autonomous navigation in partially known environments. Our main contribution is a control policy design based on ellipsoidal trajectory bounds obtained from a quadratic state-dependent distance metric. The ellipsoidal bounds are used to embed directional preference in the control design, leading to system behavior that is adapted to the local environment geometry, carefully considering medial obstacles while paying less attention to lateral ones. We use a virtual reference governor system to adaptively follow a desired navigation path, slowing down when system safety may be violated and speeding up otherwise. The resulting controller is able to navigate complex environments faster than common Euclidean-norm and Lyapunov-function-based designs, while retaining stability and collision avoidance guarantees.
