Learning Inverse Kinodynamics for Accurate High-Speed Off-Road Navigation on Unstructured Terrain

by   Xuesu Xiao, et al.

This paper presents a learning-based approach to consider the effect of unobservable world states in kinodynamic motion planning in order to enable accurate high-speed off-road navigation on unstructured terrain. Existing kinodynamic motion planners either operate in structured and homogeneous environments and thus do not need to explicitly account for terrain-vehicle interaction, or assume a set of discrete terrain classes. However, when operating on unstructured terrain, especially at high speeds, even small variations in the environment will be magnified and cause inaccurate plan execution. In this paper, to capture the complex kinodynamic model and mathematically unknown world state, we learn a kinodynamic planner in a data-driven manner with onboard inertial observations. Our approach is tested on a physical robot in different indoor and outdoor environments, enables fast and accurate off-road navigation, and outperforms environment-independent alternatives, demonstrating 52.4 execution success rate while traveling at high speeds.


page 1

page 4

page 5

page 6


VI-IKD: High-Speed Accurate Off-Road Navigation using Learned Visual-Inertial Inverse Kinodynamics

One of the key challenges in high speed off road navigation on ground ve...

AutOTranS: an Autonomous Open World Transportation System

Tasks in outdoor open world environments are now ripe for automation wit...

TerrainNet: Visual Modeling of Complex Terrain for High-speed, Off-road Navigation

Effective use of camera-based vision systems is essential for robust per...

Risk-Aware Off-Road Navigation via a Learned Speed Distribution Map

Motion planning in off-road environments requires reasoning about both t...

High Speed Convoy in Unstructured Indoor Environments

Practical operations of coordinated fleets of mobile robots in different...

High-Speed Robot Navigation using Predicted Occupancy Maps

Safe and high-speed navigation is a key enabling capability for real wor...

METAVerse: Meta-Learning Traversability Cost Map for Off-Road Navigation

Autonomous navigation in off-road conditions requires an accurate estima...

Please sign up or login with your details

Forgot password? Click here to reset