Safe-by-design planner–tracker synthesis with a hierarchy of system models |
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Affiliation: | 1. Faculty of Mechanical Engineering in Ni?, University of Ni?, ul. Aleksandra Medvedeva 14, 18000 Ni?, Serbia |
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Abstract: | We present a safe-by-design trajectory planning and tracking framework for nonlinear dynamical systems using a hierarchy of system models. The planning layer uses a low-fidelity model to plan a feasible trajectory satisfying the planning constraints, and the tracking layer utilizes the high-fidelity model to design a controller that restricts the error states between the low- and high-fidelity models to a bounded set. The simplicity of the low-fidelity model enables the planning to be performed online (e.g. using Model Predictive Control) and the tracking controller and error bound are derived offline (e.g. using sum-of-squares programming). This error bound is then used by the planner to ensure safety for the combined planner–tracker system To provide freedom in the choice of the low-fidelity model, we allow the tracking error to depend on both the states and inputs of the planner. The goal of this article is to provide a tutorial review of this hierarchical framework and to illustrate it with examples, including a design for vehicle obstacle avoidance. |
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Keywords: | Motion planning Hierarchical control Sum-of-squares programming Model Predictive Control |
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