Safe Hierarchical Navigation in Crowded Dynamic Uncertain Environments
Safe Hierarchical Navigation in Crowded Dynamic Uncertain Environments
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DOI：
10.1109/cdc51059.2022.9992674
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发表时间：
2022-12
期刊：
影响因子：
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通讯作者：
Hongyi Chen;Shiyu Feng;Ye Zhao;Changliu Liu;P. Vela
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文献类型：
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作者：
Hongyi Chen;Shiyu Feng;Ye Zhao;Changliu Liu;P. Vela
本文提出了一种由多阶段规划器和底层安全控制器组成的层次化解决方案，以共同解决拥挤、动态和不确定环境中的安全导航问题。该规划器采用动态间隙分析和轨迹优化，以实现碰撞避免相对于动态代理的预测轨迹的传感和规划范围内，并具有鲁棒性代理的不确定性。为了解决规划范围内的不确定性和实时安全性，采用快速反应安全设置算法（SSA），在轨迹跟踪过程中监测和修改不安全的控制。与其他现有方法相比，我们的方法提供了理论上的安全保证，并在不确定的环境中以更高的概率实现无碰撞导航，如20和50个动态代理的场景所示。
This paper describes a hierarchical solution consisting of a multi-phase planner and a low-level safe controller to jointly solve the safe navigation problem in crowded, dynamic, and uncertain environments. The planner employs dynamic gap analysis and trajectory optimization to achieve collision avoidance with respect to the predicted trajectories of dynamic agents within the sensing and planning horizon and with robustness to agent uncertainty. To address uncertainty over the planning horizon and real-time safety, a fast reactive safe set algorithm (SSA) is adopted, which monitors and modifies the unsafe control during trajectory tracking. Compared to other existing methods, our approach offers theoretical guarantees of safety and achieves collision-free navigation with higher probability in uncertain environments, as demonstrated in scenarios with 20 and 50 dynamic agents.