Motion planning and stochastic control with experimental validation on a planetary rover
McAllister, Rowan, Peynot, Thierry, Fitch, Robert, & Sukkarieh, Salah (2012) Motion planning and stochastic control with experimental validation on a planetary rover. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Hotel Tivoli Marina Vilamoura, Algarve, Portugal, pp. 4716-4723.
Motion planning for planetary rovers must consider control uncertainty in order to maintain the safety of the platform during navigation. Modelling such control uncertainty is difficult due to the complex interaction between the platform and its environment. In this paper, we propose a motion planning approach whereby the outcome of control actions is learned from experience and represented statistically using a Gaussian process regression model. This model is used to construct a control policy for navigation to a goal region in a terrain map built using an on-board RGB-D camera. The terrain includes flat ground, small rocks, and non-traversable rocks. We report the results of 200 simulated and 35 experimental trials that validate the approach and demonstrate the value of considering control uncertainty in maintaining platform safety.
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|Item Type:||Conference Paper|
platform safety maintenance
control action learning
Gaussian process regression model
on-board RGB-D camera
|Keywords:||Gaussian processes, learning systems, mobile robots, path planning, planetary rovers, stochastic systems, uncertain systems|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2012 IEEE|
|Copyright Statement:||Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.|
|Deposited On:||06 Mar 2014 00:30|
|Last Modified:||05 Apr 2014 20:45|
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