Distributionally Robust Chance Constrained Trajectory Optimization for Mobile Robots within Uncertain Safe Corridor
Shaohang Xu,Haolin Ruan,Wentao Zhang,Yian Wang,Lijun Zhu,Chin Pang Ho,Shaohang Xu,Haolin Ruan,Wentao Zhang,Yian Wang,Lijun Zhu,Chin Pang Ho
Safe corridor-based Trajectory Optimization (TO) presents an appealing approach for collision-free path planning of autonomous robots, because its convex formulation can guarantee global optimality. The safe corridor is constructed based on the obstacle map, however, the non-ideal perception induces uncertainty, which is rarely considered in the context of trajectory generation. In this paper, we ...
