Learning-based Nonlinear Model Predictive Control to Improve Vision-based Mobile Robot Path Tracking

摘要

This paper presents a Learning-based Nonlinear Model Predictive Control (LB-NMPC) algorithm to achieve high-performance path tracking in challenging off-road terrain through learning. The LB-NMPC algorithm uses a simple a priori vehicle model and a learned disturbance model. Disturbances are modeled as a Gaussian process (GP) as a function of system state, input, and other relevant variables. The GP is updated based on experience collected during previous trials. Localization for the controller is provided by an onboard, vision-based mapping and navigation system enabling operation in large-scale, GPS-denied environments. The paper presents experimental results including over 3 km of travel by three significantly different robot platforms with masses ranging from 50 to 600 kg and at speeds ranging from 0.35 to 1.2 m/s (associated video at http://tiny.cc/RoverLearnsDisturbances). Planned speeds are generated by a novel experience-based speed scheduler that balances overall travel time, path-tracking errors, and localization reliability. The results show that the controller can start from a generic a priori vehicle model and subsequently learn to reduce vehicle- and trajectory-specific path-tracking errors based on experience.