Adaptive Policy Switching of Two-Wheeled Differential Robots for Traversing over Diverse Terrains

摘要

Exploring lunar lava tubes requires robots to traverse without human intervention. Because pre-trained policies cannot fully cover all possible terrain conditions, our goal is to enable adaptive policy switching, where the robot selects an appropriate terrain-specialized model based on its current terrain features. This study investigates whether terrain types can be estimated effectively using posture-related observations collected during navigation. We fine-tuned a pre-trained policy using Proximal Policy Optimization (PPO), and then collected the robot's 3D orientation data as it moved across flat and rough terrain in a simulated lava-tube environment. Our analysis revealed that the standard deviation of the robot's pitch data shows a clear difference between these two terrain types. Using Gaussian mixture models (GMM), we evaluated terrain classification across various window sizes. An accuracy of more than 98% was achieved when using a 70-step window. The result suggests that short-term orientation data are sufficient for reliable terrain estimation, providing a foundation for adaptive policy switching.