Dynamic feedback route planning method adopting invariant set

A path planning, dynamic feedback technology, applied in non-electric variable control, two-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve the problem of unknown dynamic constraint planning safety planning, etc., to ensure safety Effects of Sexuality and Accessibility

Active Publication Date: 2019-04-23
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0003] The technical problem solved by the present invention is: in order to solve the security planning problem that the prior art cannot plan for unknown dynamic constraints

Method used

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  • Dynamic feedback route planning method adopting invariant set
  • Dynamic feedback route planning method adopting invariant set
  • Dynamic feedback route planning method adopting invariant set

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Embodiment Construction

[0045] see figure 1 — Image 6 , the present invention proposes a feedback path planning algorithm using an invariant set and a dynamic asymptotically optimal search random tree (RRT*). The safe invariant set is calculated off-line, and then the random tree is established by online reverse search, and the local tree structure is corrected according to the dynamic constraints, so as to realize the dynamic obstacle avoidance feedback path planning. The implementation of this invention mainly comprises following two steps:

[0046] Step 1. According to the system state equation, design the control law and calculate the invariant set.

[0047] For state and output equations:

[0048]

[0049] in They are state vector, control input and output vector respectively. (A,B) is controllable and Control inputs and initial satisfaction constraints: Because of the presence of state constraints, the output space is non-convex, and we describe this space as the union of multiple ...

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Abstract

The invention relates to a dynamic feedback route planning method adopting an invariant set. According to the dynamic feedback route planning method disclosed by the invention, states near different balance points are guided to a next balance point until reaching a goal; selection of the balance points adopts an asymptotic optimally RRT (Rapidly-Exploring Random Tree) and combines the invariant set of a local system, and the tree structure can be regulated according to current obstacle restriction; a safe passage is formed through the invariant set, and an intelligent agent is enabled to be located in one safety passage, so that the safety and the reachability of planning are ensured.

Description

technical field [0001] The invention belongs to the field of automatic control and relates to a dynamic feedback path planning method using an invariant set. Background technique [0002] The feedback path planning algorithm can not only plan the safe path of the future movement of autonomous robots and other agents, but also consider the accessibility of the path in the planning process through the introduction of feedback information. In 1986, Khatib proposed the artificial potential field method in the article "Real-Time Obstacle Avoidance for Manipulators and Mobile Robots", which is a basic feedback path planning algorithm in the field of path planning. Because of the characteristics of online real-time obstacle avoidance, the path planning algorithm is widely used in robots, robot arms, and spacecraft. In 2010, Tedrake proposed a method called LQR-Trees in "LQR-trees: Feedback Motion Planning via Sums-of-Squares Verification". This method is a way to implement feedba...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214
Inventor 罗建军高登巍马卫华王明明党朝辉袁建平
Owner NORTHWESTERN POLYTECHNICAL UNIV
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