TR2018-172

Positive Invariant Sets for Safe Integrated Vehicle Motion Planning and Control

    •  Berntorp, K., Danielson, C., Weiss, A., Di Cairano, S., "Positive Invariant Sets for Safe Integrated Vehicle Motion Planning and Control", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC.2018.8619458, December 2018.
      BibTeX TR2018-172 PDF
      • @inproceedings{Berntorp2018dec3,
      • author = {Berntorp, Karl and Danielson, Claus and Weiss, Avishai and Di Cairano, Stefano},
      • title = {Positive Invariant Sets for Safe Integrated Vehicle Motion Planning and Control},
      • booktitle = {IEEE Conference on Decision and Control (CDC)},
      • year = 2018,
      • month = dec,
      • doi = {10.1109/CDC.2018.8619458},
      • url = {https://www.merl.com/publications/TR2018-172}
      • }
  • MERL Contacts:
  • Research Area:

    Control

Abstract:

This paper describes a method for real-time integrated motion planning and control of autonomous vehicles. Our method leverages feedback control, positive invariant sets, and equilibrium trajectories of the closed-loop system to guarantee collision-free closed-loop trajectory tracking. Our method jointly steers the vehicle to a target region and controls the velocity while satisfying constraints associated with the future motion of the obstacles with respect to the vehicle. We develop a receding-horizon implementation and verify the method in a simulated road scenario. The results show that our method generates safe dynamically feasible trajectories while accounting for obstacles in the environment and modeling errors. In addition, the computation times indicate that the method is sufficiently efficient for real-time implementation.

 

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  • Related Publication

  •  Berntorp, K., Danielson, C., Weiss, A., Di Cairano, S., Erliksson, K., Bai, R., "Positive Invariant Sets for Safe Integrated Vehicle Motion Planning and Control", Transactions on Intelligent Vehicles, DOI: 10.1109/​TIV.2019.2955371, Vol. 5, No. 1, pp. 112-126, August 2019.
    BibTeX TR2019-086 PDF
    • @article{Berntorp2019aug,
    • author = {Berntorp, Karl and Danielson, Claus and Weiss, Avishai and Di Cairano, Stefano and Erliksson, Karl and Bai, Richard},
    • title = {Positive Invariant Sets for Safe Integrated Vehicle Motion Planning and Control},
    • journal = {Transactions on intelligent vehicles},
    • year = 2019,
    • volume = 5,
    • number = 1,
    • pages = {112--126},
    • month = aug,
    • doi = {10.1109/TIV.2019.2955371},
    • url = {https://www.merl.com/publications/TR2019-086}
    • }