标题： 使用路径可行性调节器集成规划与预测控制 显示英文标题

标题： Integrating Planning and Predictive Control Using the Path Feasibility Governor

摘要： 生成在非凸环境中动态可行且无碰撞的轨迹的运动规划问题，是自主系统面临的基本挑战。 将问题分解为路径规划和路径跟踪可以提高可处理性，但以理论上有根据且计算高效的方式集成这些组件是具有挑战性的。 我们提出了路径可行性管理器（PathFG），这是一种将路径规划器与非线性模型预测控制（MPC）集成的框架。 PathFG操作传递给MPC控制器的参考值，引导其沿路径移动，同时确保约束满足、稳定性和递归可行性。 PathFG是模块化的，兼容重新规划，并通过减少对长预测范围的需求来提高计算效率和可靠性。 我们证明了安全性与渐近稳定性，且吸引域显著扩大，并通过一个杂乱环境中的四旋翼导航模拟案例研究验证了其实时性能。 显示英文摘要

摘要： The motion planning problem of generating dynamically feasible, collision-free trajectories in non-convex environments is a fundamental challenge for autonomous systems. Decomposing the problem into path planning and path tracking improves tractability, but integrating these components in a theoretically sound and computationally efficient manner is challenging. We propose the Path Feasibility Governor (PathFG), a framework for integrating path planners with nonlinear Model Predictive Control (MPC). The PathFG manipulates the reference passed to the MPC controller, guiding it along a path while ensuring constraint satisfaction, stability, and recursive feasibility. The PathFG is modular, compatible with replanning, and improves computational efficiency and reliability by reducing the need for long prediction horizons. We prove safety and asymptotic stability with a significantly expanded region of attraction, and validate its real-time performance through a simulated case study of quadrotor navigation in a cluttered environment.