Adaptive Dynamics Planning for Robot Navigation

摘要

Autonomous robot navigation systems often rely on hierarchical planning, where global planners compute collision-free paths without considering dynamics, and local planners enforce dynamics constraints to produce executable commands. This discontinuity in dynamics often leads to trajectory tracking failure in highly constrained environments. Recent approaches integrate dynamics within the entire planning process by gradually decreasing its fidelity, e.g., increasing integration steps and reducing collision checking resolution, for real-time planning efficiency. However, they assume that the fidelity of the dynamics should decrease according to a manually designed scheme. Such static settings fail to adapt to environmental complexity variations, resulting in computational overhead in simple environments or insufficient dynamics consideration in obstacle-rich scenarios. To overcome this limitation, we propose Adaptive Dynamics Planning (ADP), a learning-augmented paradigm that uses reinforcement learning to dynamically adjust robot dynamics properties, enabling planners to adapt across diverse environments. We integrate ADP into three different planners and further design a standalone ADP-based navigation system, benchmarking them against other baselines. Experiments in both simulation and real-world tests show that ADP consistently improves navigation success, safety, and efficiency.