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X-WR-CALNAME:Department of Electrical and Computer Engineering (HKUECE) 電機與計算機工程系
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X-WR-CALDESC:Events for Department of Electrical and Computer Engineering (HKUECE) 電機與計算機工程系
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TZID:Asia/Hong_Kong
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TZOFFSETFROM:+0800
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DTSTART:20250101T000000
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DTSTART;TZID=Asia/Hong_Kong:20260415T153000
DTEND;TZID=Asia/Hong_Kong:20260415T163000
DTSTAMP:20260511T035353
CREATED:20260401T023508Z
LAST-MODIFIED:20260401T023508Z
UID:115523-1776267000-1776270600@ece.hku.hk
SUMMARY:RPG Seminar – Doppler LiDAR Motion Planning for Highly-Dynamic Environments
DESCRIPTION:Zoom Link:\nhttps://us05web.zoom.us/j/83514440427?pwd=4Lao2gGnkpLnw510JJXc0mXIaXCmJ5.1 \nAbstract\nExisting motion planning methods often struggle with rapid-motion obstacles due to an insufficient understanding of environmental changes. To address this limitation\, we propose integrating motion planners with Doppler LiDARs which provide not only ranging measurements but also instantaneous point velocities. However\, this integration is nontrivial due to the dual requirements of high accuracy and high frequency. To this end\, we introduce Doppler Planning Network (DPNet)\, which tracks and reacts to rapid obstacles using Doppler model-based learning. Particularly\, we first propose a Doppler Kalman neural network (D-KalmanNet) to track the future states of obstacles under partially observable Gaussian state space model. We then leverage the estimated motions to construct a Doppler-tuned model predictive control (DT-MPC) framework for ego-motion planning\, enabling runtime auto-tuning of the controller parameters. These two model-based learners allow DPNet to maintain lightweight while learning fast environmental changes using minimum data\, and achieve both high frequency and high accuracy in tracking and planning. Experiments on both high-fidelity simulator and real-world datasets demonstrate the superiority of DPNet over extensive benchmark schemes. \nSpeaker\nMr Wei Zuo\nDepartment of Electrical and Computer Engineering\nThe University of Hong Kong \nBiography of the Speaker\nWei Zuo received his bachelor’s degree from Beijing Institute of Technology (BIT) in 2024\, majored in Automation. He is currently an M.Phil. candidate at the Department of Electrical and Electronic Engineering\, the University of Hong Kong\, under the supervision of Prof. Yik-Chung Wu. His current research interests include robot perception and motion planning . \nOrganiser\nProf. Yik-Chung Wu \nDepartment of Electrical and Computer Engineering\, The University of Hong Kong \nAll are welcome.
URL:https://ece.hku.hk/events/20260415/
CATEGORIES:Seminar
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