Belief Space Planning for Mobile Robots with Range Sensors using iLQG

02/10/2021
by   Ke Sun, et al.
0

In this work, we use iterative Linear Quadratic Gaussian (iLQG) to plan motions for a mobile robot with range sensors in belief space. We address two limitations that prevent applications of iLQG to the considered robotic system. First, iLQG assumes a differentiable measurement model, which is not true for range sensors. We show that iLQG only requires the differentiability of the belief dynamics. We propose to use a derivative-free filter to approximate the belief dynamics, which does not require explicit differentiability of the measurement model. Second, informative measurements from a range sensor are sparse. Uninformative measurements produce trivial gradient information, which prevent iLQG optimization from converging to a local minimum. We densify the informative measurements by introducing additional parameters in the measurement model. The parameters are iteratively updated in the optimization to ensure convergence to the true measurement model of a range sensor. We show the effectiveness of the proposed modifications through an ablation study. We also apply the proposed method in simulations of large scale real world environments, which show superior performance comparing to the state-of-the-art methods that either assume the separation principle or maximum likelihood measurements.

READ FULL TEXT

page 2

page 6

page 8

page 9

research
04/18/2023

Continuous-Time Range-Only Pose Estimation

Range-only (RO) localization involves determining the position of a mobi...
research
09/01/2015

Target Tracking in Confined Environments with Uncertain Sensor Positions

To ensure safety in confined environments such as mines or subway tunnel...
research
09/20/2022

Distributed Information-based Source Seeking

In this paper, we design an information-based multi-robot source seeking...
research
02/20/2018

Cooperative Robot Localization Using Event-triggered Estimation

This paper describes a novel communication-spare cooperative localizatio...
research
02/10/2021

PLGRIM: Hierarchical Value Learning for Large-scale Exploration in Unknown Environments

In order for a robot to explore an unknown environment autonomously, it ...
research
05/15/2019

Cooperative Relaying in LoRa Sensor Networks

We propose a communication scheme with relays to improve the reliability...
research
09/24/2019

Informative Planning of Mobile Sensor Networks in GPS-Denied Environments

This paper considers the problem to plan mobile sensor networks for targ...

Please sign up or login with your details

Forgot password? Click here to reset