Stable Receding Horizon Trajectory Control for Complex Environments
Stable Receding Horizon Trajectory Control for Complex Environments
复制标题
复杂环境下的稳定后退地平线轨迹控制
DOI：
10.2514/6.2003-5635
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发表时间：
2003
期刊：
影响因子：
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通讯作者：
J. How
中科院分区：
文献类型：
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作者：
J. Bellingham;Y. Kuwata;J. How
针对飞行器在具有障碍物和禁飞区的复杂环境中的最短时间轨迹优化问题，提出了一种稳定的滚动时域控制器。轨迹优化是使用混合整数线性规划（MILP），它可以直接纳入逻辑约束，如避障和航路点选择，并提供了一个优化框架，可以考虑基本的动态约束，如转弯限制。以前的工作介绍了滚动时域控制，显着减少了计算工作量解决MILP问题。一个直线近似使用超出规划范围给出了一个很好的估计的成本去，但被证明是失败时，没有kinodynamically可行的轨迹可以构建。本文中的一个新的配方解决了这个问题，通过使用修改后的形式Dijkstra的算法来构建一个路径近似，是kinodynamically可行的从开始到目标。在此基础上，证明了滚动时域MILP优化问题存在一个可行解，保证了飞行器在有限时间内到达目标。仿真结果表明，这种新的配方是计算上易处理的。
This paper presents a stable receding horizon controller for the minimum time trajectory optimization problem with a vehicle flying in a complex environment with obstacles and no-fly zones. The trajectory optimization is done using mixed-integer linear programming (MILP), which can directly incorporate logical constraints such as obstacle avoidance and waypoint selection and provides an optimization framework that can account for basic dynamic constraints such as turn limitations. Previous work introduced a receding horizon control that significantly reduces the computational effort for solving MILP problems. A straight line approximation used beyond the planning horizon gives a good estimate of the cost-to-go, but is shown to fail when no kinodynamically feasible trajectory could be constructed. A new formulation in this paper solves this problem by using a modified form of Dijkstra’s algorithm to construct a path approximation that is kinodynamically feasible from the start to the goal. With this revised path approximation and the new terminal constraints in the MILP formulation, the receding horizon MILP optimization problem is proven to have a feasible solution, which guarantees that the vehicle can reach the goal in bounded time. The simulation results show this new formulation is computationally tractable.