论文标题
同时控制和轨迹估计，以避免自动机器人航天器系统的碰撞
Simultaneous Control and Trajectory Estimation for Collision Avoidance of Autonomous Robotic Spacecraft Systems
论文作者
论文摘要
我们提出了因子图表优化，以同时计划，控制和轨迹估计，以在具有移动对象的环境中无碰撞导航。当障碍运动模型既未知又已知时，提出的在线概率运动计划和轨迹估计技术导航技术可为自动驾驶汽车生成最佳的无碰撞状态和控制轨迹。我们评估算法的实用性，以支持未来的自动驾驶机器人空间任务。
We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning and trajectory estimation navigation technique generates optimal collision-free state and control trajectories for autonomous vehicles when the obstacle motion model is both unknown and known. We evaluate the utility of the algorithm to support future autonomous robotic space missions.
