Adaptive Traversability of unknown complex terrain with obstacles for mobile robots

摘要

In this paper we introduce the concept of Adaptive Traversability (AT), which we define as means of autonomous motion control adapting the robot morphology - configuration of articulated parts and their compliance - to traverse unknown complex terrain with obstacles in an optimal way. We verify this concept by proposing a reinforcement learning based AT algorithm for mobile robots operating in such conditions. We demonstrate the functionality by training the AT algorithm under lab conditions on simple EUR-pallet obstacles and then testing it successfully on natural obstacles in a forest. For quantitative evaluation we define a metrics based on comparison with expert operator. Exploiting the proposed AT algorithm significantly decreases the cognitive load of the operator.