A Safe and Flexible CP-Based Approach for Velocity Tuning Problems

摘要

This paper introduces a new velocity tuning approach for autonomous vehicles based on Constraint Programming (CP) over continuous domains. We use CP to compute a safe approximation of configurations where collisions with obstacles may occur or technological limits may be violated. The use of CP leads to a flexible approach, facilitating the incorporation of new characteristics, e.g., constraints modeling the influence of currents. We illustrate these capabilities offered by CP in the context of UAV missions. Experimental results obtained on actual wind charts are provided.