Robust Collision Avoidance via Sliding Control
Recent advances in perception and planning algorithms have enabled robots to navigate autonomously through unknown, cluttered environments at high-speeds. A key component of these systems is the ability to identify, select, and execute a safe trajectory around obstacles. Many of these systems, howev...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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Institute of Electrical and Electronics Engineers (IEEE)
2020
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| Online Access: | https://hdl.handle.net/1721.1/124620 |
| _version_ | 1826194383624470528 |
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| author | Lopez, Brett T. Slotine, Jean-Jacques E How, Jonathan P. |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Lopez, Brett T. Slotine, Jean-Jacques E How, Jonathan P. |
| author_sort | Lopez, Brett T. |
| collection | MIT |
| description | Recent advances in perception and planning algorithms have enabled robots to navigate autonomously through unknown, cluttered environments at high-speeds. A key component of these systems is the ability to identify, select, and execute a safe trajectory around obstacles. Many of these systems, however, lack performance guarantees because model uncertainty and external disturbances are ignored when a trajectory is selected for execution. This work leverages results from nonlinear control theory to establish a bound on tracking performance that can be used to select a provably safe trajectory. The Composite Adaptive Sliding Controller (CASC) provides robustness to disturbances and reduces model uncertainty through high-rate parameter estimation. CASC is demonstrated in simulation and hardware to significantly improve the performance of a quadrotor navigating through unknown environments with external disturbances and unknown model parameters. Keywords: Trajectory; Electron tubes; Uncertainty; Robustness; Optimization; Adaptation models |
| first_indexed | 2024-09-23T09:55:16Z |
| format | Article |
| id | mit-1721.1/124620 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T09:55:16Z |
| publishDate | 2020 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1246202022-09-30T17:42:51Z Robust Collision Avoidance via Sliding Control Lopez, Brett T. Slotine, Jean-Jacques E How, Jonathan P. Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Massachusetts Institute of Technology. Aerospace Controls Laboratory Recent advances in perception and planning algorithms have enabled robots to navigate autonomously through unknown, cluttered environments at high-speeds. A key component of these systems is the ability to identify, select, and execute a safe trajectory around obstacles. Many of these systems, however, lack performance guarantees because model uncertainty and external disturbances are ignored when a trajectory is selected for execution. This work leverages results from nonlinear control theory to establish a bound on tracking performance that can be used to select a provably safe trajectory. The Composite Adaptive Sliding Controller (CASC) provides robustness to disturbances and reduces model uncertainty through high-rate parameter estimation. CASC is demonstrated in simulation and hardware to significantly improve the performance of a quadrotor navigating through unknown environments with external disturbances and unknown model parameters. Keywords: Trajectory; Electron tubes; Uncertainty; Robustness; Optimization; Adaptation models National Science Foundation Graduate Research Fellowship (Grant No. 1122374) DARPA Fast Lightweight Autonomy (FLA) Program. 2020-04-14T14:56:47Z 2020-04-14T14:56:47Z 2018-09 2019-10-28T16:20:17Z Article http://purl.org/eprint/type/ConferencePaper 9781538630815 978-1-5386-3080-8 978-1-5386-3082-2 2577-087X https://hdl.handle.net/1721.1/124620 Lopez, Brett T., Slotine, Jean-Jacques and How, Jonathan P. "Robust Collision Avoidance via Sliding Control." 2018 IEEE International Conference on Robotics and Automation, 21-25 May 2018, Brisbane, QLD, Australia, edited by Kevin Lynch et al. Institute of Electrical and Electronics Engineers (IEEE), 2018 en http://dx.doi.org/10.1109/icra.2018.8460817 2018 IEEE International Conference on Robotics and Automation Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) Other repository |
| spellingShingle | Lopez, Brett T. Slotine, Jean-Jacques E How, Jonathan P. Robust Collision Avoidance via Sliding Control |
| title | Robust Collision Avoidance via Sliding Control |
| title_full | Robust Collision Avoidance via Sliding Control |
| title_fullStr | Robust Collision Avoidance via Sliding Control |
| title_full_unstemmed | Robust Collision Avoidance via Sliding Control |
| title_short | Robust Collision Avoidance via Sliding Control |
| title_sort | robust collision avoidance via sliding control |
| url | https://hdl.handle.net/1721.1/124620 |
| work_keys_str_mv | AT lopezbrettt robustcollisionavoidanceviaslidingcontrol AT slotinejeanjacquese robustcollisionavoidanceviaslidingcontrol AT howjonathanp robustcollisionavoidanceviaslidingcontrol |