论文标题
基于学习的安全运动控制车辆滑雪运动员
Learning-Based Safe Motion Control of Vehicle Ski-Stunt Maneuvers
论文作者
论文摘要
本文提供了一种安全保证的控制方法，用于自动驾驶滑雪道操作，即带有两个单侧车轮的车辆。为了精确捕获车辆动力学，高斯工艺模型被用作对从物理原理获得的名义模型的附加校正。我们构建一个概率控制屏障功能（CBF），以确保平面运动安全性。 CBF和平衡平衡歧管被执行，因为约束将其限制为安全临界控制形式。在拟议的控制方法下，车辆避免了障碍物碰撞，并安全地维持自动滑雪运动的平衡。我们进行数值模拟验证以证明控制设计。还提出了初步实验结果，以确认使用缩放的RC卡车进行自主滑雪运动动作的基于学习的运动控制。
This paper presents a safety guaranteed control method for an autonomous vehicle ski-stunt maneuver, that is, a vehicle moving with two one-side wheels. To capture the vehicle dynamics precisely, a Gaussian process model is used as additional correction to the nominal model that is obtained from physical principles. We construct a probabilistic control barrier function (CBF) to guarantee the planar motion safety. The CBF and the balance equilibrium manifold are enforced as the constraints into a safety critical control form. Under the proposed control method, the vehicle avoids the obstacle collision and safely maintain the balance for autonomous ski-stunt maneuvers. We conduct numerical simulation validation to demonstrate the control design. Preliminary experiment results are also presented to confirm the learning-based motion control using a scaled RC truck for autonomous ski-stunt maneuvers.
