Speed Planning Based on Terrain-Aware Constraint Reinforcement Learning in Rugged Environments

doi:10.1109/LRA.2024.3354629

	Speed Planning Based on Terrain-Aware Constraint Reinforcement Learning in Rugged Environments
	Yang, Andong; Li, Wei; Hu, Yu
	2024-03-01
发表期刊	IEEE ROBOTICS AND AUTOMATION LETTERS
ISSN	2377-3766
卷号	9 期号:3 页码:2096-2103
摘要	Speed planning in rugged terrain poses challenges due to various constraints, such as traverse efficiency, dynamics, safety, and smoothness. This letter introduces a framework based on Constrained Reinforcement Learning (CRL) that considers all these constraints. In addition, extracting the terrain information as a constraint to be added to the CRL is also a barrier. In this letter, a terrain constraint extraction module is designed to quantify the semantic and geometric attributes of the terrain by estimating maximum safe speed. All networks are trained on simulators or datasets and eventually deployed on a real mobile robot. To continuously improve the planning performance and mitigate the error caused by the simulator-reality gap, we propose a feedback structure for detecting and preserving critical experiences during the testing process. The experiments in the simulator and the real robot demonstrate that our method can reduce the frequency of dangerous status by 45% and improve up to 71% smoothness.
关键词	Planning Robots Semantics Data mining Neural networks Reinforcement learning Mobile robots Speed planning mobile robot rugged environments reinforcement learning
DOI	10.1109/LRA.2024.3354629
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:001166588600006
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计	被引频次：1[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://119.78.100.204/handle/2XEOYT63/38781
专题	中国科学院计算技术研究所期刊论文_英文
通讯作者	Li, Wei; Hu, Yu
作者单位	Univ Chinese Acad Sci, Chinese Acad Sci, Inst Comp Technol, Res Ctr Intelligent Comp Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Yang, Andong,Li, Wei,Hu, Yu. Speed Planning Based on Terrain-Aware Constraint Reinforcement Learning in Rugged Environments[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2024,9(3):2096-2103.
APA	Yang, Andong,Li, Wei,&Hu, Yu.(2024).Speed Planning Based on Terrain-Aware Constraint Reinforcement Learning in Rugged Environments.IEEE ROBOTICS AND AUTOMATION LETTERS,9(3),2096-2103.
MLA	Yang, Andong,et al."Speed Planning Based on Terrain-Aware Constraint Reinforcement Learning in Rugged Environments".IEEE ROBOTICS AND AUTOMATION LETTERS 9.3(2024):2096-2103.