论文标题
网守：在动态环境中非线性系统的在线安全验证和控制
gatekeeper: Online Safety Verification and Control for Nonlinear Systems in Dynamic Environments
论文作者
论文摘要
本文介绍了Gatekeeper算法，这是一种实时和计算轻量级的方法，可确保尽管有限制，但非线性系统的轨迹满足了安全限制。 Gatekeeper通过引入额外的验证步骤与现有路径计划者和反馈控制器集成，以确保尽管受到有限的干扰，输入约束和对环境的部分知识的限制，尽管非线性动态可以安全执行建议的轨迹。我们的关键贡献是（a）我们提出了一种算法来递归构建安全轨迹，通过数值向（短）有限的地平线传播该系统来递归构建安全轨迹，并且（b）我们证明，跟踪此类轨迹可确保系统在所有未来的时间（即超出有限范围之外）保持安全。我们在模拟动态消防任务的模拟中演示了该方法，以及在在网上感知的障碍环境中导航的四型四次导航的物理实验。我们还提供了与类似问题的最新技术的比较。
This paper presents the gatekeeper algorithm, a real-time and computationally-lightweight method that ensures that trajectories of a nonlinear system satisfy safety constraints despite sensing limitations. gatekeeper integrates with existing path planners and feedback controllers by introducing an additional verification step to ensure that proposed trajectories can be executed safely, despite nonlinear dynamics subject to bounded disturbances, input constraints and partial knowledge of the environment. Our key contribution is that (A) we propose an algorithm to recursively construct safe trajectories by numerically forward propagating the system over a (short) finite horizon, and (B) we prove that tracking such a trajectory ensures the system remains safe for all future time, i.e., beyond the finite horizon. We demonstrate the method in a simulation of a dynamic firefighting mission, and in physical experiments of a quadrotor navigating in an obstacle environment that is sensed online. We also provide comparisons against the state-of-the-art techniques for similar problems.
