経路パラメトリック計画と制御の統一定式化
A Universal Formulation for Path-Parametric Planning and Control
経路追従からMPC・強化学習まで、経路パラメトリック手法を単一の枠組みで扱う普遍的な計画・制御フレームワークを提案した論文。
著者: Jon Arrizabalaga, Zbyněk ŠÍR, Zachary Manchester, Markus Ryll
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
We present a unified framework for path-parametric planning and control. This formulation is universal as it standardizes the entire spectrum of path-parametric techniques -- from traditional path following to more recent contouring or progress-maximizing Model Predictive Control and Reinforcement Learning -- under a single framework. The ingredients underlying this universality are twofold: First, we present a compact and efficient technique capable of computing singularity-free, smooth and differentiable moving frames. Second, we derive a spatial path parameterization of the Cartesian coordinates for any arbitrary curve without prior assumptions on its parametric speed or moving frame, and that perfectly interplays with the aforementioned path parameterization method. The combination of these two ingredients leads to a planning and control framework that unites existing path-parametric techniques in literature.
