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FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking

Chen, Mo and Herbert, Sylvia L. and Hu, Haimin and Pu, Ye and Fisac, Jaime F. and Bansal, Somil and Han, SooJean and Tomlin, Claire J. (2021) FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking. IEEE Transactions on Automatic Control . ISSN 0018-9286. (In Press) https://resolver.caltech.edu/CaltechAUTHORS:20210224-154446131

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Abstract

Real-time, guaranteed safe trajectory planning is vital for navigation in unknown environments. However, real-time navigation algorithms typically sacrifice robustness for computation speed. On the other hand, provably safe trajectory planning tends to be too computationally intensive for real-time replanning. We propose FaSTrack, Fast and Safe Tracking, a framework that achieves both real-time replanning and guaranteed safety. In this framework, real-time computation is achieved by allowing any trajectory planner to use a simplified planning model of the system. The plan is tracked by the system, represented by a more realistic, higher-dimensional tracking model. We precompute the tracking error bound (TEB) due to mismatch between the two models and due to external disturbances. We also obtain the corresponding tracking controller used to stay within the TEB. The precomputation does not require prior knowledge of the environment. We demonstrate FaSTrack using Hamilton-Jacobi reachability for precomputation and three different real-time trajectory planners with three different tracking-planning model pairs.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/tac.2021.3059838DOIArticle
https://arxiv.org/abs/2102.07039arXivDiscussion Paper
ORCID:
AuthorORCID
Herbert, Sylvia L.0000-0002-3863-8945
Fisac, Jaime F.0000-0002-2676-5090
Bansal, Somil0000-0002-5826-7686
Tomlin, Claire J.0000-0003-3192-3185
Additional Information:© 2021 IEEE. This research is supported by ONR under the Embedded Humans MURI (N00014-16-1-2206). The research of S. Herbert has received funding from the NSF GRFP and the UC Berkeley Chancellor’s Fellowship Program.
Funders:
Funding AgencyGrant Number
Office of Naval Research (ONR)N00014-16-1-2206
NSF Graduate Research FellowshipUNSPECIFIED
University of California, BerkeleyUNSPECIFIED
Record Number:CaltechAUTHORS:20210224-154446131
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20210224-154446131
Official Citation:M. Chen et al., "FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking," in IEEE Transactions on Automatic Control, doi: 10.1109/TAC.2021.3059838
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:108188
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:25 Feb 2021 00:04
Last Modified:03 Mar 2021 18:28

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