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CC-VPSTO: Chance-Constrained Via-Point-Based Stochastic Trajectory Optimisation for Online Robot Motion Planning Under Uncertainty
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DOI：10.1177/02783649261464639.png)
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Abstract
En 中文
<jats:p>
Reliable robot autonomy hinges on decision-making systems that account for uncertainty without imposing overly conservative restrictions on the robot’s action space. We introduce
<jats:italic toggle="yes">Chance-Constrained Via-Point-Based Stochastic Trajectory Optimisation</jats:italic>
(
<jats:italic toggle="yes">CC</jats:italic>
-
<jats:italic toggle="yes">VPSTO</jats:italic>
), a real-time capable framework for generating task-efficient robot trajectories that satisfy constraints with high probability by formulating stochastic control as a chance-constrained optimisation problem. Since such problems are generally intractable, we propose a deterministic surrogate formulation based on Monte Carlo sampling, solved efficiently with gradient-free optimisation. To address bias in naïve sampling approaches, we quantify approximation error and introduce padding strategies to improve reliability. We focus on three challenges: (i) sample-efficient constraint approximation, (ii) conditions for surrogate solution validity, and (iii) online optimisation. Integrated into a receding-horizon MPC framework, CC-VPSTO enables reactive, task-efficient control under uncertainty, balancing constraint satisfaction and performance in a principled manner. The strengths of our approach lie in its generality, that is, no assumptions on the underlying uncertainty distribution, system dynamics, cost function, or the form of inequality constraints; and its applicability to online robot motion planning. We demonstrate the validity and efficiency of our approach in both simulation and on a Franka Emika robot. Videos and additional material are made available here:
<jats:ext-link xmlns:xlink="http://www.w3.org/1999/xlink" ext-link-type="uri" xlink:href="https://sites.google.com/oxfordrobotics.institute/cc-vpsto">https://sites.google.com/oxfordrobotics.institute/cc-vpsto</jats:ext-link>
.
</jats:p>
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