为时变系统设计实时安全轨迹规划与跟踪方法，兼顾效率与理论保障。
Towards Fast and Safety-Guaranteed Trajectory Planning and Tracking for Time-Varying Systems
- 离线计算安全控制器，在线重规划虚拟轨迹适应约束变化。
- 在有限时域下实现时变系统实时安全控制，误差可控。
- 适用于水下机器人等受扰动的动态系统，适合需高安全性的场景。
在未知且动态变化的环境中部署自主系统时，其运动规划与控制算法需具备计算高效性，支持在线实时重计算，并在扰动存在下提供理论上的安全保证。这一目标在考虑时变动力学和扰动时更具挑战性。本文提出两种方法：第一种适用于有限时域内的通用时变系统；第二种突破了有限时域限制，适用于周期性系统。通过一个受波浪扰动的自主水下航行器案例进行仿真验证，结果表明所提方法能有效实现安全、高效的轨迹跟踪。
原文摘要 · Abstract (English)
When deploying autonomous systems in unknown and changing environments, it is critical that their motion planning and control algorithms are computationally efficient and can be reapplied online in real time, whilst providing theoretical safety guarantees in the presence of disturbances. The satisfaction of these objectives becomes more challenging when considering time-varying dynamics and disturbances, which arise in real-world contexts. We develop methods with the potential to address these issues by applying an offline-computed safety guaranteeing controller on a physical system, to track a virtual system that evolves through a trajectory that is replanned online, accounting for constraints updated online. The first method we propose is designed for general time-varying systems over a finite horizon. Our second method overcomes the finite horizon restriction for periodic systems. We simulate our algorithms on a case study of an autonomous underwater vehicle subject to wave disturbances.
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