cam a22 4500 528782002 20190606031707.0 cr unu---uuuuu 180924e20180627xx s 000 0 eng 10.3929/ethz-b-000272614 doi (ETHRESEARCH)oai:www.research-collection.ethz.ch:20.500.11850/272614 Lefkopoulos Vasileios Chance-Constrained Programming for Autonomous Vehicles in Uncertain Environments [Elektronische Daten] [Vasileios Lefkopoulos, Maryam; id_orcid 0000-0003-0230-3518 Kamgarpour (Supervisor)] Zurich Automatic Control Laboratory (IfA), ETH Zurich 2018 69 p.; updated version also 69 p. Open access ethresearch Trajectory planning in uncertain environments arises in several autonomous system applications including robotics, air traffic and autonomous driving. An approach to handle uncertainties with sufficiently high safety guarantees is through chance-constrained optimization. In this work, we consider the problem of trajectory planning for an autonomous vehicle in an uncertain environment comprised of a number of obstacles. First, we explore existing chance-constrained optimization techniques and their efficiency in handling this problem. Second, we model the uncertain moving obstacles as polyhedra and deal with the non-convex optimization problem of not colliding with them using mixed-integer chance-constrained optimization. We transform this optimization problem into a tractable form using Boole's inequality followed by an analytic reformulation based on the sample estimates of the uncertainty's moments. We derive concentration bounds on the estimation error of these moments. As such, we provide high confidence guarantees on the chance-constrained solution. We finally demonstrate the framework with three motion-planning case studies in finite and receding horizon frameworks. In Copyright - Non-Commercial Use Permitted http://rightsstatements.org/page/InC-NC/1.0 ethresearch Kamgarpour Maryam; id_orcid 0000-0003-0230-3518 Supervisor dgs http://hdl.handle.net/20.500.11850/272614 text/html WWW-Backlink auf das Repository (Open access) 1 Student Paper ethresearch ETHRESEARCH 856 40 http://hdl.handle.net/20.500.11850/272614 text/html WWW-Backlink auf das Repository (Open access) ETHRESEARCH 100 1- Lefkopoulos Vasileios ETHRESEARCH 700 1- Kamgarpour Maryam; id_orcid 0000-0003-0230-3518 Supervisor dgs CL050000 XL050000 XC000500 ETHRESEARCH ETHRESEARCH ETHRESEARCH Student Paper Open access