Naslov
Stochastic Optimization for Trajectory Planning with Heteroscedastic Gaussian Processes

Autori
Petrović, Luka ; Peršić, Juraj ; Seder, Marija ; Marković, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
European Conference on Mobile Robots (ECMR) / - , 2019, 1-6

Skup
ECMR 2019 – European Conference on Mobile Robots 2019

Mjesto i datum
Prag, Češka Republika, 04.09.2019. - 06.09.2019

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Motion Planning ; Trajectory Optimization ; Gaussian Processes ; Stochastic Optimization

Sažetak
Trajectory optimization methods for motion planning attempt to generate trajectories that minimize a suitable objective function. Such methods efficiently find solutions even for high degree-of-freedom robots. However, a globally optimal solution is often intractable in practice and state-of-the-art trajectory optimization methods are thus prone to local minima, especially in cluttered environments. In this paper, we propose a novel motion planning algorithm that employs stochastic optimization based on the cross-entropy method in order to tackle the local minima problem. We represent trajectories as samples from a continuous-time Gaussian process and introduce heteroscedasticity to generate powerful trajectory priors better suited for collision avoidance in motion planning problems. Our experimental evaluation shows that the proposed approach yields a more thorough exploration of the solution space and a higher success rate in complex environments than a current Gaussian process motion planning state-of-the-art trajectory optimization method, namely GPMP2, while having comparable execution time.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

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