论文标题
使用熵价危险的风险敏感运动计划
Risk-Sensitive Motion Planning using Entropic Value-at-Risk
论文作者
论文摘要
在存在随机移动障碍的情况下，我们考虑了对风险敏感运动计划的问题。为此，我们采用了模型预测控制（MPC）方案，并在MPC问题中构成障碍物避免限制，作为具有KL Divergence歧义集的分布稳健约束。该约束是熵值（EVAR）的双重表示。在此观点的基础上，我们提出了一种算法，以遵循路点，并在有限的时间内讨论其可行性和完成。我们将使用EVAR获得的策略与使用另一种常见的相干风险度量（通过2D系统的数值实验）获得的策略进行了比较。我们还在3D四轴模拟上实现了算法后的航向。
We consider the problem of risk-sensitive motion planning in the presence of randomly moving obstacles. To this end, we adopt a model predictive control (MPC) scheme and pose the obstacle avoidance constraint in the MPC problem as a distributionally robust constraint with a KL divergence ambiguity set. This constraint is the dual representation of the Entropic Value-at-Risk (EVaR). Building upon this viewpoint, we propose an algorithm to follow waypoints and discuss its feasibility and completion in finite time. We compare the policies obtained using EVaR with those obtained using another common coherent risk measure, Conditional Value-at-Risk (CVaR), via numerical experiments for a 2D system. We also implement the waypoint following algorithm on a 3D quadcopter simulation.
