Learning Obstacle Avoidance Parameters from Operator Behavior

Bradley Hamner, Sanjiv Singh,and Sebastian Scherer

This paper concerns an outdoor mobile robot that learns to avoid collisions by observing a human driver operate a vehicle equipped with sensors that continuously produce a map of the local environment.

Here we present the formulation for this control system and its independent parameters and then show how these parameters can be automatically estimated by observing a human driver. We also present results from operation on an autonomous robot as well as in simulation, and compare the results from our method to another commonly used learning method.

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