Path Planning and Control of Autonomous Vehicles in Dynamic Reach-Avoid Scenarios
Path Planning and Control of Autonomous Vehicles in Dynamic Reach-Avoid Scenarios
复制标题
动态避让场景中自动驾驶车辆的路径规划和控制
DOI：
10.1109/ccta.2018.8511519
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
A. Homaifar
中科院分区：
文献类型：
--
作者：
Laya Shamgah;Tadewos G. Tadewos;A. Karimoddini;A. Homaifar
本文研究动态对抗性到达-回避问题，其中攻击者的目标是访问一个固定目标，同时避开试图捕获攻击者的另一辆车(防御者)。我们解决了攻击和防御车辆的控制和路径规划问题，以LTL公式的形式捕获了这一动态复杂问题的假设和要求，并构造了一种混合控制器，该控制器为受控制的车辆生成制胜策略，同时考虑其物理约束。
This paper addresses the dynamic adversarial reach-avoid problem in which the attacker aims at visiting a fixed target while avoiding the other vehicle (defender), which is trying to capture the attacker. We address the problem of control and path planning for both the attacker and the defender vehicles, capture the assumptions and requirements of this dynamic complex problem in the form of an LTL formula, and construct a hybrid controller which generates wining strategies for the vehicle under control while respecting its physical constraints.