This article describes a method for real-time integrated motion planning and control aimed at autonomous vehicles. Our method leverages feedback control, positive invariant sets, and equilibrium trajectories of the closed-loop system to produce and track trajectories that are collision-free with guarantees according to the vehicle model. Our method jointly steers the vehicle to a target region and controls the velocity while satisfying constraints associated with future motion of surrounding obstacles. We develop a receding-horizon implementation of the control policy and verify the method in both a simulated road scenario and an experimental validation using a scaled mobile robot with car-like dynamics using only onboard sensing. The results show that our method generates dynamically feasible and safe (i.e., collision-free) trajectories in real time, and indicate that the proposed planner is robust to sensing and mapping errors.
Positive Invariant Sets for Safe Integrated Vehicle Motion Planning and Control
IEEE Transactions on Intelligent Vehicles ; 5 , 1 ; 112-126
2020-03-01
4092741 byte
Article (Journal)
Electronic Resource
English
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