不確実性最小化による非構造環境での安全な自律走行
Safe Navigation in Unstructured Environments by Minimizing Uncertainty in Control and Perception
制御と知覚の不確実性を学習ベースの車両ダイナミクスモデルと自己教師あり走行可能性推定で定量化し、サンプリング型MPCで不確実な領域を避ける軌道を生成する枠組みを提案した。
著者: Junwon Seo, Jungwi Mun, Taekyung Kim
分類: cs.RO, cs.CV, cs.LG
原文アブストラクト
Uncertainty in control and perception poses challenges for autonomous vehicle navigation in unstructured environments, leading to navigation failures and potential vehicle damage. This paper introduces a framework that minimizes control and perception uncertainty to ensure safe and reliable navigation. The framework consists of two uncertainty-aware models: a learning-based vehicle dynamics model and a self-supervised traversability estimation model. We train a vehicle dynamics model that can quantify the epistemic uncertainty of the model to perform active exploration, resulting in the efficient collection of training data and effective avoidance of uncertain state-action spaces. In addition, we employ meta-learning to train a traversability cost prediction network. The model can be trained with driving data from a variety of types of terrain, and it can online-adapt based on interaction experiences to reduce the aleatoric uncertainty. Integrating the dynamics model and traversability cost prediction model with a sampling-based model predictive controller allows for optimizing trajectories that avoid uncertain terrains and state-action spaces. Experimental results demonstrate that the proposed method reduces uncertainty in prediction and improves stability in autonomous vehicle navigation in unstructured environments.
