Moving Obstacle Avoidance: A Data-Driven Risk-Aware Approach
نویسندگان
چکیده
This letter proposes a new structured method for moving agent to predict the paths of dynamically obstacles and avoid them using risk-aware model predictive control (MPC) scheme. Given noisy measurements priori unknown obstacle trajectory, bootstrapping technique predicts set trajectories. The bootstrapped predictions are incorporated in MPC optimization methodology so as provide probabilistic guarantees on avoidance. We validate our methods simulations multi-rotor drone that avoids various obstacles.
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ژورنال
عنوان ژورنال: IEEE Control Systems Letters
سال: 2023
ISSN: ['2475-1456']
DOI: https://doi.org/10.1109/lcsys.2022.3181191