NDLI: A tuned approach to feedback motion planning with RRTs under model uncertainty

Content Provider	IEEE Xplore Digital Library
Author	Maeda, G.J. Singh, S.P.N. Durrant-Whyte, H.
Copyright Year	2011
Description	Author affiliation: Australian Centre for Field Robotics, University of Sydney, NSW 2006 Australia (Maeda, G.J.; Singh, S.P.N.) \|\| NICTA, NSW 2015, Australia (Durrant-Whyte, H.)
Abstract	Model uncertainty complicates most kinodynamic motion planning and control approaches due to their reliance on accurate forward prediction. If the model uncertainty is significant, a generated path or control strategy based on forward simulation of this model is potentially invalid and expensive to track (if possible). This paper explores the use of system identification/estimation to tune model parameters. Framed as an extension to rapidly exploring random tree (RRT) methods, it updates the model so that reachable actions added to the tree have more fidelity. This can be viewed as a mixture of a model predictive control (MPC) for local planning with an approximate-model global planner providing sub-goals and thus overcoming the limited lookahead caused by model uncertainty. The benefits of this approach are illustrated for a 3-DOF serial manipulator controlled by computed torque control operating under large external disturbances. In this case, the approach provides operation under intermittent feedback and disturbance observation. Tracking and actuator utilization are also improved over solutions found via conventional methods.
Starting Page	2288
Ending Page	2294
File Size	1385983
Page Count	7
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979834
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Planning Robots Uncertainty Estimation Predictive models Heuristic algorithms Computational modeling
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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