Robust motion planning using a maneuver automation with built-in uncertainties
Tom Schouwenaars, Bernard Mettler, Éric Féron, Jonathan P. How · 2004
In this paper, we extend a recently introduced motion planning framework for autonomous vehicles based on a maneuver automation representation of the vehicle dynamics. We bring robustness into the guidance system by accounting for the uncertainties in the motion primitives used by the maneuver automation. The uncertainties are taken into account in the offline computation of a guidance function, as well as in a real-time planning policy. We illustrate our approach using a high-fidelity simulation model of MIT's autonomous X-Cell miniature helicopter, and present an example that highlights the performance improvement over the original framework. We demonstrate that, when uncertainties are present, a nominal planning policy generates suboptimal trajectories in both open- and closed-loop guidance, and that trajectories obtained by applying the robust policy are less sensitive to perturbations in the motion primitives.