Model-predictive control with stochastic collision avoidance using Bayesian policy optimization

Robots are increasingly expected to move out of the controlled environment of research labs and into populated streets and workplaces. Collision avoidance in such cluttered and dynamic environments is of increasing importance as robots gain more autonomy. However, efficient avoidance is fundamentally difficult since computing safe trajectories may require considering both dynamics and uncertainty. While heuristics are often used in practice, we take a holistic stochastic trajectory optimization perspective that merges both collision avoidance and control. We examine dynamic obstacles moving without prior coordination, like pedestrians or vehicles. We find that common stochastic simplifications lead to poor approximations when obstacle behavior is difficult to predict. We instead compute efficient approximations by drawing upon techniques from machine learning. We propose to combine policy search with model-predictive control. This allows us to use recent fast constrained model-predictive control solvers, while gaining the stochastic properties of policy-based methods. We exploit recent advances in Bayesian optimization to efficiently solve the resulting probabilistically-constrained policy optimization problems. Finally, we present a real-time implementation of an obstacle avoiding controller for a quadcopter. We demonstrate the results in simulation as well as with real flight experiments.

Authors

• Olov Andersson
• Mariusz Wzorek
• Piotr Rudol
• Patrick Doherty 0001

Keywords

• Stochastic processes
• Collision avoidance
• Robots
• Trajectory
• Uncertainty
• Optimization
• Probabilistic logic
• Optimal Policy
• Model Predictive Control
• Bayesian Optimization
• Machine Learning
• Optimization Problem
• Pedestrian
• Stochastic Optimization
• Trajectory Optimization
• Obstacle Avoidance
• Real-time Implementation
• Policy Search
• Confidence Level
• General Case
• Simulation Scenarios
• Kalman Filter
• Inequality Constraints
• Gaussian Process
• Predictive Distribution
• Quadratic Programming
• Constrained Optimization
• Probabilistic Constraints
• Soft Constraints
• Stochastic Problem
• Acceleration Profile
• Multiple Obstacles
• Stochastic Control
• Sequential Quadratic Programming
• Safety Parameters
• Geometric Constraints
• Policy Parameters