SAFE NAVIGATION WITH COLLISION AVOIDANCE OF A BROWNIAN MOTION OBSTACLE

摘要

This paper develops a control that combines deterministic and stochastic optimal control solutions to the problem of safe navigation around a spherical obstacle in order to reach a waypoint location. The solution for navigation towards the waypoint is based on the deterministic minimum time optimal control. Since the intent of the obstacle is unknown to the navigating vehicle, the vehicle anticipates this uncertainty and uses a stochastic optimal control for navigation around the obstacle. The two navigation solutions are combined based on their value functions. Results are illustrated by numerical simulations.