DMCA
Trajectory Optimization in Convex Underapproximations of Safe Regions
BibTeX
@MISC{Ding_trajectoryoptimization,
author = {Jerry Ding and Claire J. Tomlin},
title = {Trajectory Optimization in Convex Underapproximations of Safe Regions},
year = {}
}
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Abstract
Abstract — This paper discusses a computationally efficient method for optimizing aircraft trajectories in a two-aircraft conflict scenario, under a noncooperative setting. It is assumed that the future trajectory of the uncontrolled aircraft is unknown, but that deterministic input bounds are given. Unsafe reachable sets are computed in a game theoretic framework to account for worst case behaviors. Overapproximations of the reachable sets are used as constraints in a convex trajectory optimization program at each time step. We prove the safety property of the optimization program, and address the errors introduced by model linearization through a robustness analysis. Simulation results demonstrate that the algorithm generates collision free conflict resolution trajectories even as the adversary aircraft inputs are drawn randomly from within input bounds. I.
Keyphrases
convex underapproximations trajectory optimization safe region adversary aircraft input deterministic input bound unsafe reachable set noncooperative setting game theoretic framework input bound future trajectory robustness analysis convex trajectory optimization program efficient method optimization program free conflict resolution trajectory aircraft trajectory model linearization worst case behavior time step uncontrolled aircraft safety property simulation result reachable set two-aircraft conflict scenario
