Online discovery of AUV control policies to overcome thruster failures

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Title: Online discovery of AUV control policies to overcome thruster failures
Authors: Ahmadzadeh, SR
Carrera, A
Leonetti, M
Kormushev, P
Caldwell, DG
Item Type: Conference Paper
Abstract: We investigate methods to improve fault-tolerance of Autonomous Underwater Vehicles (AUVs) to increase their reliability and persistent autonomy. We propose a learning-based approach that is able to discover new control policies to overcome thruster failures as they happen. The proposed approach is a model-based direct policy search that learns on an on-board simulated model of the AUV. The model is adapted to a new condition when a fault is detected and isolated. Since the approach generates an optimal trajectory, the learned fault-tolerant policy is able to navigate the AUV towards a specified target with minimum cost. Finally, the learned policy is executed on the real robot in a closed-loop using the state feedback of the AUV. Unlike most existing methods which rely on the redundancy of thrusters, our approach is also applicable when the AUV becomes under-actuated in the presence of a fault. To validate the feasibility and efficiency of the presented approach, we evaluate it with three learning algorithms and three policy representations with increasing complexity. The proposed method is tested on a real AUV, Girona500.
Issue Date: 30-Jun-2014
Date of Acceptance: 31-May-2014
Publisher: IEEE
Start Page: 6522
End Page: 6528
Journal / Book Title: Proc. IEEE Intl Conf. on Robotics and Automation (ICRA 2014)
Copyright Statement: © 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Conference Name: ICRA 2014
Publication Status: Published
Publisher URL:
Start Date: 2014-05-31
Finish Date: 2014-06-07
Conference Place: Hong Kong
Appears in Collections:Dyson School of Design Engineering

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