Wei, Skylar X. and Dixit, Anushri and Tomar, Shashank and Burdick, Joel W. (2022) Moving Obstacle Avoidance: a Data-Driven Risk-Aware Approach. IEEE Control Systems Letters, 7 . pp. 289-294. ISSN 2475-1456. doi:10.1109/lcsys.2022.3181191. https://resolver.caltech.edu/CaltechAUTHORS:20220614-222127000
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Abstract
This letter proposes a new structured method for a moving agent to predict the paths of dynamically moving obstacles and avoid them using a risk-aware model predictive control (MPC) scheme. Given noisy measurements of the a priori unknown obstacle trajectory, a bootstrapping technique predicts a set of obstacle trajectories. The bootstrapped predictions are incorporated in the MPC optimization using a risk-aware methodology so as to provide probabilistic guarantees on obstacle avoidance. We validate our methods using simulations of a multi-rotor drone that avoids various moving obstacles.
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| Additional Information: | © 2022 IEEE. Manuscript received 21 March 2022; revised 21 May 2022; accepted 24 May 2022. Date of publication 8 June 2022; date of current version 15 July 2022. Recommended by Senior Editor V. Ugrinovskii. | |||||||||
| Subject Keywords: | Predictive control for linear systems, Stochastic optimal control, Uncertain systems, Robotics. | |||||||||
| DOI: | 10.1109/lcsys.2022.3181191 | |||||||||
| Record Number: | CaltechAUTHORS:20220614-222127000 | |||||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20220614-222127000 | |||||||||
| Official Citation: | S. X. Wei, A. Dixit, S. Tomar and J. W. Burdick, "Moving Obstacle Avoidance: A Data-Driven Risk-Aware Approach," in IEEE Control Systems Letters, vol. 7, pp. 289-294, 2023, doi: 10.1109/LCSYS.2022.3181191 | |||||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | |||||||||
| ID Code: | 115146 | |||||||||
| Collection: | CaltechAUTHORS | |||||||||
| Deposited By: | George Porter | |||||||||
| Deposited On: | 14 Jun 2022 22:07 | |||||||||
| Last Modified: | 02 Aug 2022 16:56 |
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