A Symbolic Approach for Multi-target Dynamic Reach-avoid Problem
A Symbolic Approach for Multi-target Dynamic Reach-avoid Problem
复制标题
多目标动态回避问题的符号方法
DOI：
10.1109/icca.2018.8444174
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：
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作者：
Laya Shamgah;Tadewos G. Tadewos;A. Karimoddini;A. Homaifar
本文开发了一种符号技术，用于对抗性环境中自动驾驶车辆的控制和路径规划。我们认为自动驾驶车辆的目标是顺序访问一组目标，同时避免动态对抗（防御）车辆。针对多目标动态避达路径规划问题，提出了一种新的高效混合、按设计修正的符号化解决方案。为此，车辆之间的动态相互作用和它们的逻辑行为被捕获在一般反应性（1）的形式，然后构建一个混合控制系统，以生成获胜的轨迹，满足攻击自主车辆的目标。通过仿真实验验证了该方法的有效性。
This paper develops a symbolic technique for the control and path planning of autonomous vehicles in adversarial environments. We consider the objective of the autonomous vehicle as visiting a set of targets sequentially, while avoiding a dynamic adversarial (defending) vehicle. To address this multi-target dynamic reach-avoid path planning problem, this paper proposes a novel efficient hybrid, correct-by-design, symbolic solution. For this purpose, the dynamic interactions between the vehicles and their logical behaviors are captured in the form of General Reactivity (1), and then a hybrid control system is constructed to generate winning trajectories, which satisfy the objective of the attacking autonomous vehicle. The proposed technique is verified through several simulations and the results show the effectiveness of the developed algorithm.