近似動的計画法による無人航空機の最適化された信頼性の高い衝突回避
Optimized and Trusted Collision Avoidance for Unmanned Aerial Vehicles using Approximate Dynamic Programming (Technical Report)
パラメータ化された衝突回避ロジックを、遭遇状態に応じてオンラインで適応的に調整する手法を提案。オフラインの近似動的計画法で適応方針を学習し、安全性と運用性能を向上させつつ信頼性を維持する。
著者: Zachary N. Sunberg, Mykel J. Kochenderfer, Marco Pavone
分類: cs.RO
原文アブストラクト
Safely integrating unmanned aerial vehicles into civil airspace is contingent upon development of a trustworthy collision avoidance system. This paper proposes an approach whereby a parameterized resolution logic that is considered trusted for a given range of its parameters is adaptively tuned online. Specifically, to address the potential conservatism of the resolution logic with static parameters, we present a dynamic programming approach for adapting the parameters dynamically based on the encounter state. We compute the adaptation policy offline using a simulation-based approximate dynamic programming method that accommodates the high dimensionality of the problem. Numerical experiments show that this approach improves safety and operational performance compared to the baseline resolution logic, while retaining trustworthiness.
