都市運河における自律航行船のための相互作用を考慮したサンプリングベース運動計画
Interaction-Aware Sampling-Based Motion Planning for Autonomous Surface Vessels in Urban Waterways
都市水路を航行する自律船が他船と交通規則を考慮しつつ衝突やデッドロックなく航行できるよう、モデル予測パス積分制御に基づく分散型計画手法を提案し、実運河地図と実機で検証した。
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著者: Elia Trevisan, Alejandro Gonzalez-Garcia, Jan Swevers, Javier Alonso-Mora
分類: cs.RO
原文アブストラクト
Autonomous surface vessels operating in urban waterways must coordinate with other vessels in confined spaces while complying with traffic regulations, often without knowing their intentions. We present a decentralized motion planner based on model predictive path integral control, a sampling-based model predictive control scheme. The planner jointly computes a trajectory for the ego vessel and a prediction of the trajectories of the other vessels, and therefore accounts for their interaction. Traffic regulations are encoded as discontinuous costs, which the sampling-based formulation admits without a smooth approximation. We evaluate the method in maps taken from real sections of Amsterdam's canals, in encounters between two vessels and in scenarios with four interacting vessels. Across 780 randomized runs the method reaches every goal without collisions or deadlocks, and outperforms an optimization-based planner designed for the same domain, as well as a version of the proposed planner that does not account for the interaction. We further validate the planner on two scaled vessel prototypes in an outdoor environment, where planning and localization run onboard at 10 Hz, and head-on and crossing encounters are resolved without collisions or rule violations.