Learning to Drive Among Obstacles
Bradley Hamner
Sebastian Scherer
Sanjiv Singh
10.1184/R1/6555386.v1
https://kilthub.cmu.edu/articles/journal_contribution/Learning_to_Drive_Among_Obstacles/6555386
<p>This paper reports on an outdoor mobile robot that learns to avoid collisions by observing a human driver operate a vehicle equipped with sensors that continuously produce a map of the local environment. We have implemented steering control that models human behavior in trying to avoid obstacles while trying to follow a desired path. Here we present the formulation for this control system and its independent parameters, and then show how these parameters can be automatically estimated by observation of a human driver. We present results from experiments with a vehicle (both real and simulated) that avoids obstacles while following a prescribed path at speeds up to 4 m/sec. We compare the proposed method with another method based on principal component analysis, a commonly used learning technique. We find that the proposed method generalizes well and is capable of learning from a small number of examples</p>
2006-10-01 00:00:00
collision avoidance
mobile robots
principal component analysis
robot dynamics
steering systems