An Interval-based Sliding Horizon Motion Planning Method⁎

Julien Alexandre dit Sandretto; Elliot Brendel; Alexandre Chapoutot

doi:10.1016/j.ifacol.2018.08.050

An Interval-based Sliding Horizon Motion Planning Method^⁎

Julien Alexandre dit Sandretto, Elliot Brendel, Alexandre Chapoutot

Research output: Contribution to journal › Article › peer-review

Abstract

A new algorithm of motion planning based on set-membership approach is presented. The goal of this algorithm is to find a safe and optimal path taking into account various sources of bounded uncertainties on the dynamical model of the plant, on the model of the environment, while being robust with respect to the numerical approximations introduced by numerical integration methods. The main approach is based on a sliding horizon method to predict the behavior of the system allowing the computation of an optimal path. As an example, the motion planning algorithm is applied to an Autonomous Underwater Vehicle (AUV) case study, showing the benefit of the proposed approach.

Original language	English
Pages (from-to)	296-301
Number of pages	6
Journal	6th IFAC Conference on Analysis and Design of Hybrid Systems ADHS 2018: Oxford, United Kingdom, 11—13 July 2018
Volume	51
Issue number	16
DOIs	https://doi.org/10.1016/j.ifacol.2018.08.050
Publication status	Published - 1 Jan 2018
Externally published	Yes

Keywords

Formal synthesis
Reachability
Robust control
safety analysis

Access to Document

10.1016/j.ifacol.2018.08.050

Cite this

@article{e492d247d8134f8fbd3c6dac570c3f7a,

title = "An Interval-based Sliding Horizon Motion Planning Method⁎ ",

abstract = "A new algorithm of motion planning based on set-membership approach is presented. The goal of this algorithm is to find a safe and optimal path taking into account various sources of bounded uncertainties on the dynamical model of the plant, on the model of the environment, while being robust with respect to the numerical approximations introduced by numerical integration methods. The main approach is based on a sliding horizon method to predict the behavior of the system allowing the computation of an optimal path. As an example, the motion planning algorithm is applied to an Autonomous Underwater Vehicle (AUV) case study, showing the benefit of the proposed approach.",

keywords = "Formal synthesis, Reachability, Robust control, safety analysis",

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note = "Publisher Copyright: {\textcopyright} 2018",

year = "2018",

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doi = "10.1016/j.ifacol.2018.08.050",

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An Interval-based Sliding Horizon Motion Planning Method^⁎ . / dit Sandretto, Julien Alexandre; Brendel, Elliot; Chapoutot, Alexandre.
In: 6th IFAC Conference on Analysis and Design of Hybrid Systems ADHS 2018: Oxford, United Kingdom, 11—13 July 2018, Vol. 51, No. 16, 01.01.2018, p. 296-301.

Research output: Contribution to journal › Article › peer-review

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AU - Brendel, Elliot

AU - Chapoutot, Alexandre

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KW - Formal synthesis

KW - Reachability

KW - Robust control

KW - safety analysis

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JF - 6th IFAC Conference on Analysis and Design of Hybrid Systems ADHS 2018: Oxford, United Kingdom, 11—13 July 2018

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