FaSTrack: A modular framework for fast and guaranteed safe motion planning

Sylvia L. Herbert, Mo Chen, Soojean Han, Somil Bansal, Jaime F. Fisac, Claire J. Tomlin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

35 Scopus citations

Abstract

Fast and safe navigation of dynamical systems through a priori unknown cluttered environments is vital to many applications of autonomous systems. However, trajectory planning for autonomous systems is computationally intensive, often requiring simplified dynamics that sacrifice safety and dynamic feasibility in order to plan efficiently. Conversely, safe trajectories can be computed using more sophisticated dynamic models, but this is typically too slow to be used for real-time planning. We present the new algorithm FaSTrack: Fast and Safe Tracking. A path or trajectory planner using simplified dynamics to plan quickly can be incorporated into the FaSTrack framework, which provides a safety controller for the vehicle along with a guaranteed tracking error bound. This bound captures all possible deviations due to high dimensional dynamics and external disturbances. FaSTrack is modular and can be used with most current path or trajectory planners. We demonstrate this framework using a 10D nonlinear quadrotor model tracking a 3D path obtained from an RRT planner.

Original languageEnglish (US)
Title of host publication2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1517-1522
Number of pages6
ISBN (Electronic)9781509028733
DOIs
StatePublished - Jan 18 2018
Externally publishedYes
Event56th IEEE Annual Conference on Decision and Control, CDC 2017 - Melbourne, Australia
Duration: Dec 12 2017Dec 15 2017

Publication series

Name2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
Volume2018-January

Other

Other56th IEEE Annual Conference on Decision and Control, CDC 2017
CountryAustralia
CityMelbourne
Period12/12/1712/15/17

All Science Journal Classification (ASJC) codes

  • Decision Sciences (miscellaneous)
  • Industrial and Manufacturing Engineering
  • Control and Optimization

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  • Cite this

    Herbert, S. L., Chen, M., Han, S., Bansal, S., Fisac, J. F., & Tomlin, C. J. (2018). FaSTrack: A modular framework for fast and guaranteed safe motion planning. In 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017 (pp. 1517-1522). (2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2017.8263867