Design and Analysis of Hybrid Systems, with Applications to Robotic Aerial Vehicles

Autor:	Jeremy H. Gillula, Haomiao Huang, Michael P. Vitus, Claire J. Tomlin
Rok vydání:	2011
Předmět:	Computer Science::Robotics Nonlinear system Sequence Computer science Trajectory planning Control theory Hybrid system Motor noise Differential game Motion planning Motion (physics)
Zdroj:	Springer Tracts in Advanced Robotics ISBN: 9783642194566 ISRR
Popis:	Decomposing complex, highly nonlinear systems into aggregates of simpler hybrid modes has proven to be a very successful way of designing and controlling autonomous vehicles. Examples include the use of motion primitives for robotic motion planning and equivalently the use of discrete maneuvers for aggressive aircraft trajectory planning. In all of these approaches, it is extremely important to verify that transitions between modes are safe. In this paper, we present the use of a Hamilton-Jacobi differential game formulation for finding continuous reachable sets as a method of generating provably safe transitions through a sequence of modes for a quadrotor performing a backflip maneuver.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::20601ca02ed882eb68119065a18aea7f https://doi.org/10.1007/978-3-642-19457-3_9 Zobrazit plný text záznamu