Model Predictive Inferential Control of Neural State-Space Models for Autonomous Vehicle Motion Planning
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arXiv
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| Format: | Preprint |
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2023
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| author | Askari, Iman Vaziri, Ali Tu, Xuemin Zeng, Shen Fang, Huazhen |
| author_facet | Askari, Iman Vaziri, Ali Tu, Xuemin Zeng, Shen Fang, Huazhen |
| contents | Model predictive control (MPC) has proven useful in enabling safe and optimal motion planning for autonomous vehicles. In this paper, we investigate how to achieve MPC-based motion planning when a neural state-space model represents the vehicle dynamics. As the neural state-space model will lead to highly complex, nonlinear and nonconvex optimization landscapes, mainstream gradient-based MPC methods will struggle to provide viable solutions due to heavy computational load. In a departure, we propose the idea of model predictive inferential control (MPIC), which seeks to infer the best control decisions from the control objectives and constraints. Following this idea, we convert the MPC problem for motion planning into a Bayesian state estimation problem. Then, we develop a new implicit particle filtering/smoothing approach to perform the estimation. This approach is implemented as banks of unscented Kalman filters/smoothers and offers high sampling efficiency, fast computation, and estimation accuracy. We evaluate the MPIC approach through a simulation study of autonomous driving in different scenarios, along with an exhaustive comparison with gradient-based MPC. The simulation results show that the MPIC approach has considerable computational efficiency despite complex neural network architectures and the capability to solve large-scale MPC problems for neural state-space models. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2310_08045 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Model Predictive Inferential Control of Neural State-Space Models for Autonomous Vehicle Motion Planning Askari, Iman Vaziri, Ali Tu, Xuemin Zeng, Shen Fang, Huazhen Robotics Systems and Control Model predictive control (MPC) has proven useful in enabling safe and optimal motion planning for autonomous vehicles. In this paper, we investigate how to achieve MPC-based motion planning when a neural state-space model represents the vehicle dynamics. As the neural state-space model will lead to highly complex, nonlinear and nonconvex optimization landscapes, mainstream gradient-based MPC methods will struggle to provide viable solutions due to heavy computational load. In a departure, we propose the idea of model predictive inferential control (MPIC), which seeks to infer the best control decisions from the control objectives and constraints. Following this idea, we convert the MPC problem for motion planning into a Bayesian state estimation problem. Then, we develop a new implicit particle filtering/smoothing approach to perform the estimation. This approach is implemented as banks of unscented Kalman filters/smoothers and offers high sampling efficiency, fast computation, and estimation accuracy. We evaluate the MPIC approach through a simulation study of autonomous driving in different scenarios, along with an exhaustive comparison with gradient-based MPC. The simulation results show that the MPIC approach has considerable computational efficiency despite complex neural network architectures and the capability to solve large-scale MPC problems for neural state-space models. |
| title | Model Predictive Inferential Control of Neural State-Space Models for Autonomous Vehicle Motion Planning |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2310.08045 |