SAFE NAVIGATION WITH COLLISION AVOIDANCE OF A BROWNIAN MOTION OBSTACLE

被引：0
|
作者：
Munishkin, Alexey A. [1 ]
Milutinovic, Dejan [1 ]
Casbeer, David W. [2 ]
机构：
[1] Univ Calif Santa Cruz, Dept Comp Engn, Santa Cruz, CA 95064 USA
[2] US Air Force, Control Sci Ctr Excellence, Res Lab, Wright Patterson AFB, OH 45433 USA
来源：
PROCEEDINGS OF THE ASME 10TH ANNUAL DYNAMIC SYSTEMS AND CONTROL CONFERENCE, 2017, VOL 3 | 2017年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper develops a control that combines deterministic and stochastic optimal control solutions to the problem of safe navigation around a spherical obstacle in order to reach a way point location. The solution for navigation towards the way point is based on the deterministic minimum time optimal control. Since the intent of the obstacle is unknown to the navigating vehicle, the vehicle anticipates this uncertainty and uses a stochastic optimal control for navigation around the obstacle. The two navigation solutions are combined based on their value functions. Results are illustrated by numerical simulations.
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页数：8
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