An Iterative LQR Controller for Off-Road and On-Road Vehicles using a Neural Network Dynamics Model

摘要

In this work we evaluate Iterative Linear Quadratic Regulator(ILQR) for trajectory tracking of two different kinds of wheeled mobile robots namely Warthog (Fig. 1), an off-road holonomic robot with skid-steering and Polaris GEM e6 [1], a non-holonomic six seater vehicle (Fig. 2). We use multilayer neural network to learn the discrete dynamic model of these robots which is used in ILQR controller to compute the control law. We use model predictive control (MPC) to deal with model imperfections and perform extensive experiments to evaluate the performance of the controller on human driven reference trajectories with vehicle speeds of 3m/s-4m/s for warthog and 7m/s-10m/s for the Polaris GEM.