TR2019-086

Positive Invariant Sets for Safe Integrated Vehicle Motion Planning and Control


    •  Berntorp, K., Danielson, C., Weiss, A., Di Cairano, S., Erliksson, K., Bai, R., "Positive Invariant Sets for Safe Integrated Vehicle Motion Planning and Control", Transactions on intelligent vehicles, August 2019.
      BibTeX Download PDF
      • @article{Berntorp2019aug,
      • author = {Berntorp, Karl and Danielson, Claus and Weiss, Avishai and Di Cairano, Stefano and Erliksson, Karl and Bai, Richard},
      • title = {Positive Invariant Sets for Safe Integrated Vehicle Motion Planning and Control},
      • journal = {Transactions on intelligent vehicles},
      • year = 2019,
      • month = aug,
      • url = {https://www.merl.com/publications/TR2019-086}
      • }
  • MERL Contacts:
  • Research Areas:

    Control, Dynamical Systems


This paper describes a method for real-time integrated motion planning and control aimed at autonomous vehicles. Our method leverages feedback control, positive invariant sets, and equilibrium trajectories of the closed-loop system to produce and track trajectories that are collision-free with guarantees according to the vehicle model. Our method jointly steers the vehicle to a target region and controls the velocity while satisfying constraints associated with future motion of surrounding obstacles. We develop a receding-horizon implementation of the control policy and verify the method in both a simulated road scenario and an experimental validation using a scaled mobile robot with car-like dynamics using only onboard sensing. The results show that our method generates dynamically feasible and safe (i.e., collision-free) trajectories in real time, and indicate that the proposed planner is robust to sensing and mapping errors.