Real-time Funnel Generation for Restricted Motion Planning

In autonomous systems, a motion planner generates reference trajectories which are tracked by a low-level controller. For safe operation, the motion planner should account for inevitable controller tracking error when generating avoidance trajectories. In this article we present a method for generat...

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Veröffentlicht in:	arXiv.org 2019-11
Hauptverfasser:	Ravanbakhsh, Hadi, Laine, rest, Seshia, Sanjit A
Format:	Artikel
Sprache:	eng
Schlagworte:	Controllers Error reduction Index funds Motion planning Tracking control Tracking errors Tracking stock Trajectories
Online-Zugang:	Volltext
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