Aerospace and Mechanical Engineering
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Sensory Predictive Guidance (SPG)

Takes into account the closed-loop dynamics and constraints in trajectory optimization and manages tradeoff between performance and safety.

SPG process

Figure: Overview of the SPG process.

SPG guidance process overview:

  1. Cost-to-go function and environment map are updated via a probabilistic occupancy map.
  2. Active waypoint (AWP) selected based on local CTG.
  3. Receding Horizon time-optimal trajectory to the AWP.
  4. Evaluation of the trajectory’s safety.
  5. Implementation of trajectory segment

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Last Modified: 2012-06-04 at 14:53:06 -- this is in International Standard Date and Time Notation