Xu, Taoying and She, Haoping and Si, Weiyong and Li, Chuanjun (2024) Trajectory Generation by Sparse Demonstration Learning and Minimum Snap-based Optimization. In: 2024 29th International Conference on Automation and Computing (ICAC), 2024-08-28 - 2024-08-30, Sunderland.
Xu, Taoying and She, Haoping and Si, Weiyong and Li, Chuanjun (2024) Trajectory Generation by Sparse Demonstration Learning and Minimum Snap-based Optimization. In: 2024 29th International Conference on Automation and Computing (ICAC), 2024-08-28 - 2024-08-30, Sunderland.
Xu, Taoying and She, Haoping and Si, Weiyong and Li, Chuanjun (2024) Trajectory Generation by Sparse Demonstration Learning and Minimum Snap-based Optimization. In: 2024 29th International Conference on Automation and Computing (ICAC), 2024-08-28 - 2024-08-30, Sunderland.
Abstract
In this paper, dynamic time warping function is used to establish an optimal control system for four-rotor unmanned aerial vehicle (UAV) to learn how to optimize trajectory planning from sparse demonstration. By continuous Pontryagin Differentiable Programming, UAV learns the objective function based on sparse waypoints demonstration. However, due to the small sample data of sparse demonstration learning, there is a problem of low precision, and Pontryagin’s Minimum Principle itself has the limitation of easily falling into the local optimal solution. So, this paper adopts the Minimum Snap trajectory algorithm that meets the dynamic constraints of the agent to generate a planned trajectory, to weighted combination with learning trajectory solved based on continuous Pontryagin Differentiable Programming, and the resulting optimized trajectory has the advantages of small demonstration learning difference loss, reasonable time allocation and reasonable planning, so that UAV can have certain generalization capability and optimize a reasonable trajectory with less energy loss. Finally, the feasibility of the proposed method is verified by the simulation experiment of the four-rotor UAV.
Item Type: | Conference or Workshop Item (Paper) |
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Uncontrolled Keywords: | dynamic time warping; sparse demonstration learning; minimum snap; continuous Pontryagin Differentiable Programming; trajectory planning |
Divisions: | Faculty of Science and Health Faculty of Science and Health > Computer Science and Electronic Engineering, School of |
SWORD Depositor: | Unnamed user with email elements@essex.ac.uk |
Depositing User: | Unnamed user with email elements@essex.ac.uk |
Date Deposited: | 31 Oct 2024 11:55 |
Last Modified: | 31 Oct 2024 11:58 |
URI: | http://repository.essex.ac.uk/id/eprint/39523 |
Available files
Filename: Accepted_Manuscript.pdf