论文标题
使用可及性分析，在随机和有界感测不确定性下进行轨迹计划
Trajectory Planning Under Stochastic and Bounded Sensing Uncertainties Using Reachability Analysis
论文作者
论文摘要
不确定性下的轨迹计划是一个积极的研究主题。先前的工作预测了沿轨迹的状态和州估计不确定性，以检查碰撞安全性。他们假定随机感应不确定性。但是，通常对GNSS伪氮植物进行建模，以包含在城市环境中具有其他偏见的随机不确定性。因此，鉴于偏见的界限，规划师需要考虑随机和有界的不确定性。在我们的先前工作中，我们提出了一项可达性分析，以预测随机和有限不确定性下的状态估计不确定性。但是，我们忽略了这些不确定性之间的相关性，导致状态不确定性的不完善。在本文中，我们通过预测状态不确定性作为独立数量的函数来改善我们的可及性分析。我们为预测的不确定性设计了一个指标，以比较计划期间的候选轨迹。最后，我们验证了基于GNSS的固定翼UAS城市导航的规划师。
Trajectory planning under uncertainty is an active research topic. Previous works predict state and state estimation uncertainties along trajectories to check for collision safety. They assume either stochastic or bounded sensing uncertainties. However, GNSS pseudoranges are typically modeled to contain stochastic uncertainties with additional biases in urban environments. Thus, given bounds for the bias, the planner needs to account for both stochastic and bounded sensing uncertainties. In our prior work we presented a reachability analysis to predict state and state estimation uncertainties under stochastic and bounded uncertainties. However, we ignored the correlation between these uncertainties, leading to an imperfect approximation of the state uncertainty. In this paper we improve our reachability analysis by predicting state uncertainty as a function of independent quantities. We design a metric for the predicted uncertainty to compare candidate trajectories during planning. Finally, we validate the planner for GNSS-based urban navigation of fixed-wing UAS.
