Robust Trajectory Planning for a Multirotor against Disturbance based on Hamilton-Jacobi Reachability Analysis
Hoseong Seo, Donggun Lee, Clark Youngdong Son, Claire J. Tomlin, H. Jin Kim
Abstract
Ensuring safety in trajectory planning of multirotor systems is an essential element for risk-free operation. Even if the generated trajectory is known to be safe in the planning phase, unknown disturbance during an actual operation can lead to a dangerous situation. This paper proposes safety-guaranteed receding horizon planning against unknown, but bounded, disturbances. We first characterize forward reachable set (FRS) of the system, the set of states after a certain duration considering all possible disturbances, using Hamilton-Jacobi (HJ) reachability analysis. To compute the FRSs in real-time, we conservatively approximate the true FRS and perform ellipsoidal parameterization on the FRSs. Using the FRSs, we can plan a robust trajectory that avoids risky regions and rapidly re-plan the trajectory when the system encounters sudden disturbance. The proposed method is validated through an experiment of avoiding obstacles in a wind.
BibTeX
@inproceedings{iros2019_robusttrajectory,
title = {Robust Trajectory Planning for a Multirotor against Disturbance based on Hamilton-Jacobi Reachability Analysis},
author = {Hoseong Seo and Donggun Lee and Clark Youngdong Son and Claire J. Tomlin and H. Jin Kim},
booktitle = {IROS 2019},
year = {2019}
}