Real-Time Generation of Time-Optimal Quadrotor Trajectories with Semi-Supervised Seq2Seq LearningDownload PDF

16 Jun 2022, 10:45 (modified: 15 Nov 2022, 06:17)CoRL 2022 PosterReaders: Everyone
Student First Author: yes
Keywords: Motion Planning, Model Learning
TL;DR: Seq2Seq learning for time-optimal quadrotor trajectory generation
Abstract: Generating time-optimal quadrotor trajectories is challenging due to the complex dynamics of high-speed, agile flight. In this paper, we propose a data-driven method for real-time time-optimal trajectory generation that is suitable for complicated system models. We utilize a temporal deep neural network with sequence-to-sequence learning to find the optimal trajectories for sequences of a variable number of waypoints. The model is efficiently trained in a semi-supervised manner by combining supervised pretraining using a minimum-snap baseline method with Bayesian optimization and reinforcement learning. Compared to the baseline method, the trained model generates up to 20 % faster trajectories at an order of magnitude less computational cost. The optimized trajectories are evaluated in simulation and real-world flight experiments, where the improvement is further demonstrated.
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