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A Viability Approach for Fast Recursive Feasible Finite Horizon Path Planning of Autonomous RC Cars

Author(s):

A. Liniger, J. Lygeros
Conference/Journal:

HSCC (Hybrid Systems: Computation and Control ), Seattle, WA, USA, pp. 1 - 10
Abstract:

We consider a viability based approach to guarantee recursive feasibility of a finite horizon path planner. The path planner is formulated as a hybrid system for which a difference inclusion reformulation is derived by exploiting the special structure of the problem. Based on this approximation, the viability kernel, which characterizes all safe states and the corresponding safe controls, can be calculated. Using the set of safe controls the computation time of the on-line path planning can be reduced, by only generating viable trajectories. Finally, a condition characterizing the unsafe set in case of on-line obstacle avoidance is derived.

Year:

2015
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@InProceedings { LinLyg:2015:IFA_5113,
    author={A. Liniger and J. Lygeros},
    title={{A Viability Approach for Fast Recursive Feasible Finite
	  Horizon Path Planning of Autonomous RC Cars}},
    booktitle={HSCC (Hybrid Systems: Computation and Control )},
    pages={1 -- 10},
    year={2015},
    address={Seattle, WA, USA},
    month=apr,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=5113}
}
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