Robust Global-Local Behavior Arbitration via Continuous Command Fusion Under LiDAR Errors
Modular autonomous driving systems must coordinate global progress objectives with local safety-driven reactions under imperfect sensing and strict real-time constraints. This paper presents a ROS2-native arbitration module that continuously fuses the outputs of two unchanged and interpretable controllers: a global reference-tracking controller based on Pure Pursuit and a reactive LiDAR-based Gap Follow controller. At each control step, both controllers propose Ackermann commands, and a PPO-trained policy predicts a continuous gate from a compact feature observation to produce a single fused drive command, augmented with practical safety checks. For comparison under identical ROS topic in...
| Authors | Mohamed Elgouhary, Amr S. El-Wakeel |
|---|---|
| Primary category | cs.RO |
| Published | 28 March 2026 |
| Last updated at source | 28 March 2026 |
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