自律エージェント航法における非線形MPC学習のためのベイズ最適化
Bayesian Optimization for Learning Nonlinear MPC in Autonomous Agent Navigation
LiDARベースの占有グリッドとA*探索、非線形MPCを統合した地図不要の航法フレームワークを提案し、TPEベイズ最適化で制御パラメータを自動調整。シミュレーションで調整したパラメータが実機Unitree Go2に転移可能であることを示した。
著者: Lorenzo Ortolani, Gabriel Voss, Gabriele Beltrami, Francesco Dorati, Tommaso Felice Banfi
分類: cs.RO, cs.LG, math.OC
原文アブストラクト
Real-time autonomous navigation in dynamic, unknown environments remains a fundamental challenge for mobile robotics. We propose a map-free framework that tightly integrates reactive rolling-horizon planning with nonlinear Model Predictive Control (MPC). At each control cycle, a LiDAR-based Gaussian occupancy representation is constructed and used to generate collision-free trajectories via A* search, which are then tracked by a CasADi/IPOPT MPC formulation incorporating a smooth sigmoid obstacle barrier. To improve robustness to parameter sensitivity, we adopt an offline Bayesian optimization scheme based on Tree-structured Parzen Estimators (TPE), which identifies near-optimal controller parameters with respect to a composite navigation objective. In addition, a Gaussian Process surrogate is used to analyze parameter sensitivity and provide insight into the optimization landscape. The proposed framework is robot-agnostic and is evaluated on the Unitree Go2 quadruped in simulation using Gazebo, followed by deployment on the physical robot. Experimental results show that parameters tuned in simulation transfer effectively to hardware, maintaining comparable performance without additional tuning. The full system achieves up to a 90.0\% navigation success rate when deployed, along with a 38.9\% average improvement in the evaluation metrics across simulated environments.