Robust Hybrid Control for Autonomous Vehicle Motion Planning

Download or read book Robust Hybrid Control for Autonomous Vehicle Motion Planning written by Emilio Frazzoli and published by . This book was released on 2001 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: (Cont.) In the second part of the dissertation, a randomized algorithm is proposed for real-time motion planning in a dynamic environment. By employing the optimal control solution in a free space developed for the maneuver automaton (or for any other general system), we present a motion planning algorithm with probabilistic convergence and performance guarantees, and hard safety guarantees, even in the face of finite computation times. The proposed methodologies are applicable to a very large class of autonomous vehicles: throughout the dissertation, examples, simulation and experimental results are presented and discussed, involving a variety of mechanical systems, ranging from simple academic examples and laboratory setups, to detailed models of small autonomous helicopters.