Speed Planning Based on Terrain-Aware Constraint Reinforcement Learning in Rugged Environments
文献类型：期刊论文
| 作者 | Yang, Andong; Li, Wei; Hu, Yu |
| 刊名 | IEEE ROBOTICS AND AUTOMATION LETTERS
 |
| 出版日期 | 2024-03-01 |
| 卷号 | 9期号:3页码:2096-2103 |
| 关键词 | Planning Robots Semantics Data mining Neural networks Reinforcement learning Mobile robots Speed planning mobile robot rugged environments reinforcement learning |
| ISSN号 | 2377-3766 |
| DOI | 10.1109/LRA.2024.3354629 |
| 英文摘要 | 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. |
| 资助项目 | National Natural Science Foundation of China |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:001166588600006 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 源URL | [http://119.78.100.204/handle/2XEOYT63/38780]  |
| 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. |
入库方式： OAI收割
来源：计算技术研究所
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