Real-Time Robust Receding Horizon Planning Using Hamilton–Jacobi Reachability Analysis

Safety guarantee prior to the deployment of robots can be difficult due unexpected disturbances in runtime. This article presents a real-time receding-horizon robust trajectory planning algorithm for nonlinear closed-loop systems, which guarantees safety system under unknown but bounded disturbances. We characterize forward reachable sets (FRSs) based on Hamilton–Jacobi reachability analysis as means verification. For online computation FRSs, we approximate systems LTV with linearization errors and compute ellipsoids that encompass FRSs continuous time. Using proposed ellipsoidal approximation formulate computationally tractable problem solved online. Consequently, method enables replanning reference even when encounters The flight experiment obstacle avoidance windy environment validates algorithm.