全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

基于内发动机机制的机器人趋光控制

Keywords: 机器人,认知,内发动机,趋光技能,感觉运动系统

Full-Text   Cite this paper   Add to My Lib

Abstract:

针对移动机器人的趋光问题,提出了一种基于内发动机机制的控制方法.该方法以生物体感觉运动系统的学习机制为基础,通过评价、行为选择以及取向和决策环节的强化实现对机器人最优趋光控制策略的搜索,使机器人在未知环境下,通过自主的学习和训练,逐渐掌握趋光移动技能.采用马尔科夫定理证明了学习过程的收敛性;仿真实验证明了基于内发动机机制趋光控制方法的有效性;通过与人工势场法的比较,说明了该方法的精确性.

References

[1]  RICHARD A W,SEVAN G F,JORDAN B P.Embodied evolution:distributing an evolutionary algorithm in a population of robots[J].Robotics and Autonomous Systems,2002,39(1):1-18.
[2]  CRESPI A,LACHAT D,PASQUIER A.Controlling swimming and crawling in a fish robot using a central pattern generator[J].Autonomous Robots,2008,25(1/2):3-13.
[3]  SHELLEY R.Cooperative phototaxis using networked mobile sensors and centroidal voronoi tessellations[C]∥Proceedings of the American Control Conference.New York:IEEE,2009:3274-3279.
[4]  JOSE A F,GERARDO G A,MIGUEL A M.Behavioral control through evolutionary neurocontrollers for autonomous mobile robot navigation[J].Robotics and Autonomous Systems,2009,57(4):411-419.
[5]  DAI Li-zhen,RUAN Xiao-gang,WANG Guan-wei,et al.Neural networks based autonomous learning for a desktop robot[C]∥Proceedings of the World Congress on Intelligent Control and Automation.New York:IEEE,2012:739-742.
[6]  OUDEYER P,KAPLAN F.What is intrinsic motivation?a typology of computational approaches[J].Frontiers in Neurorobotics,2007,1(6):1-14.
[7]  ASADA M,UCHIBE E,HOSODA K.Cooperative behavior acquisition for mobile robots in dynamically changing real worlds via vision-based reinforcement learning and development[J].Artificial Intelligence,1999,110(2):275-292.
[8]  SINGH S,LEWIS Richard L,BARTO Andrew G,et al.Intrinsically motivated reinforcement learning:an evolutionary perspective[J].IEEE Transactions on Autonomous Mental Development,2010,2(2):70-82.
[9]  ZORAN M,MARKO M,MIHAILO L,et al.Neural network reinforcement learning for visual control of robot manipulators[J].Expert Systems with Applications,2013,40(5):1721-1736.
[10]  PRADHAN S K,SUBUDHI B.Real-time adaptive control of a flexible manipulator using reinforcement learning[J].IEEE Transactions on Automation Science and Engineering,2012,9(2):237-249.
[11]  XU X,HE H G.A gradient algorithm for neural network based reinforcement learning[J].Chinese Journal of Computers,2003,26(2):227-233.
[12]  DEWOLF T,ELIASMITH C.The neural optimal control hierarchy for motor control[J].Journal of Neural Engineering,2011,8(6):1-21.

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133