Integrated motion planning and model learning for mobile robots with application to marine vehicles

[摘要] (cont.) By predicting how the collision probability is affected by the parameter covariance evolution, the motion planner automatically incorporates active learning strategies into the motion plans. In particular, the vehicle will practice maneuvers in the open regions of the configuration space before using them in the constrained regions to ensure that the collision risk due to modeling error is low. High-level feedback across missions allows the system to recognize configuration changes and quickly learn new model parameters as necessary. Simulations and experimental results using an autonomous marine surface vessel are presented.

[发布机构] Massachusetts Institute of Technology