不確実性下のロボット軌道最適化のためのモンテカルロ運動計画

原文アブストラクト

This article presents a novel approach, named MCMP (Monte Carlo Motion Planning), to the problem of motion planning under uncertainty, i.e., to the problem of computing a low-cost path that fulfills probabilistic collision avoidance constraints. MCMP estimates the collision probability (CP) of a given path by sampling via Monte Carlo the execution of a reference tracking controller (in this paper we consider LQG). The key algorithmic contribution of this paper is the design of statistical variance-reduction techniques, namely control variates and importance sampling, to make such a sampling procedure amenable to real-time implementation. MCMP applies this CP estimation procedure to motion planning by iteratively (i) computing an (approximately) optimal path for the deterministic version of the problem (here, using the FMT* algorithm), (ii) computing the CP of this path, and (iii) inflating or deflating the obstacles by a common factor depending on whether the CP is higher or lower than a target value. The advantages of MCMP are threefold: (i) asymptotic correctness of CP estimation, as opposed to most current approximations, which, as shown in this paper, can be off by large multiples and hinder the computation of feasible plans; (ii) speed and parallelizability, and (iii) generality, i.e., the approach is applicable to virtually any planning problem provided that a path tracking controller and a notion of distance to obstacles in the configuration space are available. Numerical results illustrate the correctness (in terms of feasibility), efficiency (in terms of path cost), and computational speed of MCMP.