Vision-based Goal-Reaching Control for Mobile Robots Using a Hierarchical Learning Framework

TL;DR

This paper presents a hierarchical learning framework combining visual pose estimation, reinforcement learning, deep dynamics modeling, and safety supervision to enable safe, goal-reaching control of large mobile robots on unstable terrain.

Contribution

It introduces a modular control system integrating RL, deep learning, and safety supervision for large-scale robots, ensuring safety and stability during goal-reaching tasks.

Findings

Framework guarantees exponential stability and safety.

Successful experiments on a 6,000 kg robot demonstrate effectiveness.

Real-time control on complex terrain achieved.

Abstract

Reinforcement learning (RL) is effective in many robotic applications, but it requires extensive exploration of the state-action space, during which behaviors can be unsafe. This significantly limits its applicability to large robots with complex actuators operating on unstable terrain. Hence, to design a safe goal-reaching control framework for large-scale robots, this paper decomposes the whole system into a set of tightly coupled functional modules. 1) A real-time visual pose estimation approach is employed to provide accurate robot states to 2) an RL motion planner for goal-reaching tasks that explicitly respects robot specifications. The RL module generates real-time smooth motion commands for the actuator system, independent of its underlying dynamic complexity. 3) In the actuation mechanism, a supervised deep learning model is trained to capture the complex dynamics of the robot and provide this model to 4) a model-based robust adaptive controller that guarantees the wheels track the RL motion commands even on slip-prone terrain. 5) Finally, to reduce human intervention, a mathematical safety supervisor monitors the robot, stops it on unsafe faults, and autonomously guides it back to a safe inspection area. The proposed framework guarantees uniform exponential stability of the actuation system and safety of the whole operation. Experiments on a 6,000 kg robot in different scenarios confirm the effectiveness of the proposed framework.