Practical considerations in reinforcement learning-based MPC for mobile robots*

Abstract

In mobile robot applications, the trajectory tracking task hides several difficulties, including the choice of the setpoint and the search for an acceptable trade-off between performance and computational constraints. In this work, we discuss practical issues of a Reinforcement Learning (RL) based Model Predictive Control (MPC) tuning approach by focusing on a specific mobile robot application, where the objective is to maximize the velocity, while keeping the robot within the track bounds. Among others, we show that softening the latter constraints allows us to obtain a RL-tuned tracking controller with the same performance of an economic nonlinear MPC formulation, but requiring significantly less computational resources.