Convex risk-bounded continuous-time trajectory planning and tube design in uncertain nonconvex environments
Ashkan Jasour,
Weiqiao Han,
Brian C. Williams
Abstract:In this paper, we address the trajectory planning problem in uncertain nonconvex static and dynamic environments that contain obstacles with probabilistic location, size, and geometry. To address this problem, we provide a risk-bounded trajectory planning method that looks for continuous-time trajectories with guaranteed bounded risk over the planning time horizon. Risk is defined as the probability of collision with uncertain obstacles. Existing approaches to address risk-bounded trajectory planning problems … Show more
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