IcLQG: Combining local and global optimization for control in information space
Name
Huynh-2009-IcLQG Combining local and global optimization for control in information space.pdf
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340.14 KB
Format
Adobe PDF
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Author(s)
Roy, Nicholas
Huynh, Vu Anh
Date Issued
July 2009
Journal
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009.
Publisher
Institute of Electrical and Electronics Engineers
Citation
Vu Anh Huynh, and N. Roy. “icLQG: Combining local and global optimization for control in information space.” Robotics and Automation, 2009. ICRA '09. IEEE International Conference on. 2009. 2851-2858. © 2009 IEEE
Version
Final published version
Abstract
When a mobile robot does not have perfect knowledge of its position, conventional controllers can experience failures such as collisions because the uncertainty of the position is not considered in choosing control actions. In this paper, we show how global planning and local feedback control can be combined to generate control laws in the space of distributions over position, that is, in information space. We give a novel algorithm for computing ldquoinformation-constrainedrdquo linear quadratic Gaussian (icLQG) policies for controlling a robot with imperfect state information. The icLQG algorithm uses the belief roadmap algorithm to efficiently search for a trajectory that approximates the globally-optimal motion plan in information space, and then iteratively computes a feedback control law to locally optimize the global approximation. The icLQG algorithm is not only robust to imperfect state information but also scalable to high-dimensional systems and environments. In addition, icLQG is capable of answering multiple queries efficiently. We demonstrate performance results for controlling a vehicle on the plane and a helicopter in three dimensions.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ROBOT.2009.5152607
