Invariant-Set-Based Planning approach for obstacle avoidance under vehicle dynamic constraints

摘要

Autonomous vehicles require the ability to safely operate under both external environment constraints such as obstacles, and their own limits such as dynamic conditions. The problem of planning feasible control reference inputs against both constraints is still an open question. In this paper, the contribution is to propose an Invariant-Set-Based Planning (ISBP) approach which can move a vehicle from an initial point to a goal point by calculating feasible control reference inputs with satisfying both constraints simultaneously. A series of invariant sets will be calculated to cover feasible path and system input constraints will be novelly modified to calculate each invariant set. Finally, ISBP approach will be achieved by solving a set of linear matrix inequalities (LMIs).