Modelling, Positioning, and Deep Reinforcement Learning Path Tracking Control of Scaled Robotic Vehicles: Design and Experimental Validation

원문 초록

Mobile robotic systems are becoming increasingly popular. These systems are used in various indoor applications, raging from warehousing and manufacturing to test benches for assessment of advanced control strategies, such as artificial intelligence (AI)-based control solutions, just to name a few. Scaled robotic cars are commonly equipped with a hierarchical control acthiecture that includes tasks dedicated to vehicle state estimation and control. This paper covers both aspects by proposing (i) a federeted extended Kalman filter (FEKF), and (ii) a novel deep reinforcement learning (DRL) path tracking controller trained via an expert demonstrator to expedite the learning phase and increase robustess to the simulation-to-reality gap. The paper also presents the formulation of a vehicle model along with an effective yet simple procedure for identifying tis paramters. The experimentally validated model is used for (i) supporting the design of the FEKF and (ii) serving as a digital twin for training the proposed DRL-based path tracking algorithm. Experimental results confirm the ability of the FEKF to improve the estimate of the mobile robot's position. Furthermore, the effectiveness of the DRL path tracking strateguy is experimentally tested along manoeuvres not considered during training, showing also the ability of the AI-based solution to outpeform model-based control strategies and the demonstrator. The comparison with benchmraking controllers is quantitavely evalueted through a set of key performance indicators.