動的アクティブラーニングを用いたガウス過程ベース適応追従制御：自律走行車両への応用
Gaussian-Process-based Adaptive Tracking Control with Dynamic Active Learning for Autonomous Ground Vehicles
自律走行車両のモデル誤差を補償するため、ガウス過程と動的アクティブラーニングを組み合わせた適応追従制御を提案し、実車実験で有効性を示した。
著者: Kristóf Floch, Tamás Péni, Roland Tóth
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
This article proposes an active-learning-based adaptive trajectory tracking control method for autonomous ground vehicles to compensate for modeling errors and unmodeled dynamics. The nominal vehicle model is decoupled into lateral and longitudinal subsystems, which are augmented with online Gaussian Processes (GPs), using measurement data. The estimated mean functions of the GPs are used to construct a feedback compensator, which, together with an LPV state feedback controller designed for the nominal system, gives the adaptive control structure. To assist exploration of the dynamics, the paper proposes a new, dynamic active learning method to collect the most informative samples to accelerate the training process. To analyze the performance of the overall learning tool-chain provided controller, a novel iterative, counterexample-based algorithm is proposed for calculating the induced L2 gain between the reference trajectory and the tracking error. The analysis can be executed for a set of possible realizations of the to-be-controlled system, giving robust performance certificate of the learning method under variation of the vehicle dynamics. The efficiency of the proposed control approach is shown on a high-fidelity physics simulator and in real experiments using a 1/10 scale F1TENTH electric car.
