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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 Fernández 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, 66 (12). pp. 5861-5876. ISSN 0018-9286. doi:10.1109/tac.2021.3059838. 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. Alternatively, 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
Chen, Mo0000-0001-8506-3665
Herbert, Sylvia L.0000-0002-3863-8945
Hu, Haimin0000-0002-4217-4776
Pu, Ye0000-0001-5924-0859
Fisac, Jaime Fernández0000-0002-2676-5090
Bansal, Somil0000-0002-5826-7686
Han, SooJean0000-0003-1195-6465
Tomlin, Claire J.0000-0003-3192-3185
Additional Information:© 2021 IEEE. Manuscript received October 11, 2019; revised August 10, 2020; accepted December 4, 2020. Date of publication February 16, 2021; date of current version December 3, 2021. This work was supported by ONR under the Embedded Humans MURI Project under Grant N00014-16-1-2206. The work of Sylvia L. Herbert was supported in part by the National Science Foundation Graduate Research Fellowship Program and in part by the UC Berkeley Chancellor’s Fellowship Program. This article was presented in part at the IEEE 56th Annual Conference on Decision and Control, Melbourne Convention Center, Melbourne, VIC, Australia, December 2017. Recommended by Associate Editor H. Lin.
Funders:
Funding AgencyGrant Number
Office of Naval Research (ONR)N00014-16-1-2206
NSF Graduate Research FellowshipUNSPECIFIED
University of California, BerkeleyUNSPECIFIED
Issue or Number:12
DOI:10.1109/tac.2021.3059838
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, vol. 66, no. 12, pp. 5861-5876, Dec. 2021, 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:17 Dec 2021 18:52

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