Optimization Based Planner-Tracker Design for Safety Guarantees

We present a safe-by-design approach to path planning and control for nonlinear systems. The planner uses a low fidelity model of the plant to compute reference trajectories by solving an MPC problem, while the plant being controlled utilizes a feedback control law that tracks those trajectories wit...

Full description

Saved in:
Bibliographic Details
Main Authors: Yin, He, Bujarbaruah, Monimoy, Arcak, Murat, Packard, Andrew
Format: Conference Proceeding
Language:English
Subjects:
Computational modeling
Nonlinear systems
Optimization
Planning
Predictive models
Safety
Trajectory
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:We present a safe-by-design approach to path planning and control for nonlinear systems. The planner uses a low fidelity model of the plant to compute reference trajectories by solving an MPC problem, while the plant being controlled utilizes a feedback control law that tracks those trajectories with an upper-bound on the tracking error. Our main goal is to allow for maximum permissiveness (that is, room for constraint feasibility) of the planner, while maintaining safety after accounting for the tracking error bound. We achieve this by parametrizing the state and input constraints imposed on the planner and deriving corresponding parametrized tracking control laws and tracking error bounds, which are computed offline through Sum-of-Squares programming. The parameters are then optimally chosen to maximize planner permissiveness, while guaranteeing safety.
ISSN:2378-5861
DOI:10.23919/ACC45564.2020.9148013