Dynamic Neural Potential Field: Online Trajectory Optimization in Presence of Moving Obstacles

We address a task of local trajectory planning for the mobile robot in the presence of static and dynamic obstacles. Local trajectory is obtained as a numerical solution of the Model Predictive Control (MPC) problem. Collision avoidance may be provided by adding repulsive potential of the obstacles to the cost function of MPC. We develop an approach, where repulsive potential is estimated by the neural model. We propose and explore three possible strategies of handling dynamic obstacles. First, environment with dynamic obstacles is considered as a sequence of static environments. Second, the neural model predict a sequence of repulsive potential at once. Third, the neural model predict future repulsive potential step by step in autoregressive mode. We implement these strategies and compare it with CIAO* and MPPI using BenchMR framework. First two strategies showed higher performance than CIAO* and MPPI while preserving safety constraints. The third strategy was a bit slower, however it still satisfy time limits. We deploy our approach on Husky UGV mobile platform, which move through the office corridors under proposed MPC local trajectory planner. The code and trained models are available at \url{https://github.com/CognitiveAISystems/Dynamic-Neural-Potential-Field}.

Neural Potential Field for Obstacle-Aware Local Motion Planning

Model predictive control (MPC) may provide local motion planning for mobile robotic platforms. The challenging aspect is the analytic representation of collision cost for the case when both the obstacle map and robot footprint are arbitrary. We propose a Neural Potential Field: a neural network model that returns a differentiable collision cost based on robot pose, obstacle map, and robot footprint. The differentiability of our model allows its usage within the MPC solver. It is computationally hard to solve problems with a very high number of parameters. Therefore, our architecture includes neural image encoders, which transform obstacle maps and robot footprints into embeddings, which reduce problem dimensionality by two orders of magnitude. The reference data for network training are generated based on algorithmic calculation of a signed distance function. Comparative experiments showed that the proposed approach is comparable with existing local planners: it provides trajectories with outperforming smoothness, comparable path length, and safe distance from obstacles. Experiment on Husky UGV mobile robot showed that our approach allows real-time and safe local planning. The code for our approach is presented at https://github.com/cog-isa/NPField together with demo video.