飛べ、車よ！――高速オフロード走行のための空中マニューバ
Dom, cars don't fly! -- Or do they? In-Air Vehicle Maneuver for High-Speed Off-Road Navigation
物理と機械学習を組み合わせたハイブリッドモデルとサンプリングベースのプランナを用い、既存のスロットルとステアリング操作だけで車両の空中姿勢を制御し、着地位置を高精度に合わせる手法を提案した。
著者: Anuj Pokhrel, Aniket Datar, Xuesu Xiao
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
When pushing the speed limit for aggressive off-road navigation on uneven terrain, it is inevitable that vehicles may become airborne from time to time. During time-sensitive tasks, being able to fly over challenging terrain can also save time, instead of cautiously circumventing or slowly negotiating through. However, most off-road autonomy systems operate under the assumption that the vehicles are always on the ground and therefore limit operational speed. In this paper, we present a novel approach for in-air vehicle maneuver during high-speed off-road navigation. Based on a hybrid forward kinodynamic model using both physics principles and machine learning, our fixed-horizon, sampling-based motion planner ensures accurate vehicle landing poses and their derivatives within a short airborne time window using vehicle throttle and steering commands. We test our approach in extensive in-air experiments both indoors and outdoors, compare it against an error-driven control method, and demonstrate that precise and timely in-air vehicle maneuver is possible through existing ground vehicle controls.
