Trajectory planning and execution using robust funnels

Shekhar, Rohan, Kearney, Michael, Shames, Iman and Manzie, Chris (2015). Trajectory planning and execution using robust funnels. In: Proceedings of 2015 5th Australian Control Conference (AUCC). Australian Control Conference (AUCC), Gold Coast, QLD, Australia, (61-64). 5-6 November 2015.

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Name Description MIMEType Size Downloads
Author Shekhar, Rohan
Kearney, Michael
Shames, Iman
Manzie, Chris
Title of paper Trajectory planning and execution using robust funnels
Conference name Australian Control Conference (AUCC)
Conference location Gold Coast, QLD, Australia
Conference dates 5-6 November 2015
Convener IEEE
Proceedings title Proceedings of 2015 5th Australian Control Conference (AUCC)
Journal name 2015 Australian Control Conference, AUCC 2015
Place of Publication Barton, ACT, Australia
Publisher IEEE
Publication Year 2015
Sub-type Fully published paper
ISBN 9781922107701
Start page 61
End page 64
Total pages 4
Collection year 2016
Language eng
Abstract/Summary This paper presents a new robust path planning and execution methodology for constrained linear systems, using reachable sequences of sets denoted funnels. Constraint tightening is used to guarantee the existence of a combined feedforward and affine disturbance-feedback policy to guide the system trajectory from anywhere within a set of initial states to a target set, through a sequence of intermediate sets forming the cross-section of the funnel. It is shown how the sets can be placed to guarantee robust obstacle avoidance for a known bounded disturbance. Numerical simulations are used to demonstrate the approach on a simple unmanned aerial vehicle model.
Q-Index Code E1
Q-Index Status Provisional Code
Institutional Status UQ
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Created: Fri, 15 Jan 2016, 15:09:45 EST by Dr Michael Kearney on behalf of School of Mechanical and Mining Engineering