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1.
基于模块化Q学习的足球机器人合作   总被引:2,自引:0,他引:2  
提出了一种新的多机器人系统学习结构,这种学习结构能够降低环境状态空间和机器 人的动作空间,加快学习速度。该方法的有效性在机器人足球比赛中得到了验证。  相似文献   

2.
The objective of this paper is to describe the development of a specific theory of interactions and learning among multiple robots performing certain tasks. One of the primary objectives of the research was to study the feasibility of a robot colony in achieving global objectives, when each individual robot is provided only with local goals and local information. In order to achieve this objective the paper introduces a novel cognitive architecture for the individual behavior of robots in a colony. Experimental investigation of the properties of the colony demonstrates its ability to achieve global goals, such as the gathering of objects, and to improve its performance as a result of learning, without explicit instructions for cooperation. Since this architecture is based on representation of the likes and dislikes of the robots, it is called the Tropism System Cognitive Architecture. This paper addresses learning in the framework of the cognitive architecture, specifically, phylogenetic and ontogenetic learning by the robots. The results show that learning is indeed possible with the Tropism Architecture, that the ability of a simulated robot colony to perform a gathering task improves with practice and that it can further improve with evolution over successive generations. Experimental results also show that the variability of the results decreases over successive generations.  相似文献   

3.
This paper is a survey of some recentconnectionist approaches to the design and developmentof behaviour-based mobile robots. The research isanalysed in terms of principal connectionist learningmethods and neurological modeling trends. Possibleadvantages over conventionally programmed methods areconsidered and the connectionist achievements to dateare assessed. A realistic view is taken of theprospects for medium term progress and someobservations are made concerning the direction thismight profitably take.  相似文献   

4.
This issue's look at learning organizations begins with a brief overview of the basic components of a learning organization - learning, memory, and organizational learning - and how they can be supported by today's information technologies.  相似文献   

5.
内存从规格,技术,总线带宽等不断更新换代。本文根据已有的内存技术标准,主要介绍了DDR2 SDRAM的基本特征,比较其与DDR技术规范的不同,最后分析了DDR2技术的未来发展。  相似文献   

6.
形状记忆合金增强复合材料的振动主动控制试验研究   总被引:1,自引:0,他引:1  
张晓莉  麦汉超  苏众庆  吴声 《测控技术》2002,21(2):28-30,39
重点介绍了自行设计的几个利用形状记忆合金驱动器对结构振动进行主动控制的试验,除了对结构的振动进行抑制外,还对结构的振动进行激励,通过试验说明SMA在工程主动振动控制中的可行性和优越性,并讨论了SMA驱动器布局对结构主动振动控制效果的影响,最后还讨论了SMA在工程应用中存在的问题和相应的改进方法。  相似文献   

7.
Learning in the mobile robot domain is a very challenging task, especially in nonstationary conditions. The behavior-based approach has proven to be useful in making mobile robots work in real-world situations. Since the behaviors are responsible for managing the interactions between the robots and its environment, observing their use can be exploited to model these interactions. In our approach, the robot is initially given a set of behavior-producing modules to choose from, and the algorithm provides a memory-based approach to dynamically adapt the selection of these behaviors according to the history of their use. The approach is validated using a vision- and sonar-based Pioneer I robot in nonstationary conditions, in the context of a multirobot foraging task. Results show the effectiveness of the approach in taking advantage of any regularities experienced in the world, leading to fast and adaptable specialization for the learning robot.  相似文献   

8.
In this paper, hybrid integrated dynamic control algorithm for humanoid locomotion mechanism is presented. The proposed structure of controller involves two feedback loops: model-based dynamic controller including impart-force controller and reinforcement learning feedback controller around zero-moment point. The proposed new reinforcement learning algorithm is based on modified version of actor-critic architecture for dynamic reactive compensation. Simulation experiments were carried out in order to validate the proposed control approach.The obtained simulation results served as the basis for a critical evaluation of the controller performance.  相似文献   

9.
Learning in the mobile robot domain is a very challenging task, especially in non-stationary conditions. The behavior-based approach has proven to be useful in making mobile robots work in real-world situations. Since the behaviors are responsible for managing the interactions between the robots and its environment, observing their use can be exploited to model these interactions. In our approach, the robot is initially given a set of behavior-producing modules to choose from, and the algorithm provides a memory-based approach to dynamically adapt the selection of these behaviors according to the history of their use. The approach is validated using a vision- and sonar-based Pioneer I robot in non-stationary conditions, in the context of a multi-robot foraging task. Results show the effectiveness of the approach in taking advantage of any regularities experienced in the world, leading to fas t and adaptable specialization for the learning robot.  相似文献   

10.
自主导航是移动机器人的一项关键技术。该文采用强化学习结合模糊逻辑的方法实现了未知环境下自主式移动机机器人的导航控制。文中首先介绍了强化学习原理,然后设计了一种未知环境下机器人导航框架。该框架由避碰模块、寻找目标模块和行为选择模块组成。针对该框架,提出了一种基于强化学习和模糊逻辑的学习、规划算法:在对避碰和寻找目标行为进行独立学习后,利用超声波传感器得到的环境信息进行行为选择,使机器人在成功避碰的同时到达目标点。最后通过大量的仿真实验,证明了算法的有效性。  相似文献   

11.
为了有效地解决双轮机器人平衡控制问题,改善学习时间过长的问题,使双轮机器人具有自学习能力;将机器学习中强化学习算法应用于双轮机器人上,利用内部回归神经网络构造性能评价函数,设计了一种新型控制算法;该算法是一种不需要预测和辨识模型,在模型未知及没有先验经验的条件下,通过自身神经网络的在线学习,以实现对双轮机器人的自学习平衡控制; Matlab仿真以及物理实验表明:该方法能在短时间内成功实现对双轮机器人的自学习平衡控制,且在性能上优于其它学习算法.  相似文献   

12.
The paper proposes a multiple models based control methodology for the solution of the tracking problem for mobile robots. The proposed method utilizes multiple models of the robot for its identification in an adaptive and learning control framework. Radial Basis Function Networks (RBFNs) are considered for the multiple models in order to exploit the non-linear approximation capabilities of the nets for modeling the kinematic behaviour of the vehicle and for reducing unmodelled tracking errors contributions. The training of the nets and the control performance analysis have been done in a real experimental setup. The experimental results are satisfactory in terms of tracking errors and computational efforts and show the improvement in the tracking performance when the proposed methodology is used for tracking tasks in dynamical uncertain environments.  相似文献   

13.
本文对基于空间数据库的移动机器人路径规划算法中引入先裁剪再检索的思想,在此基础上提出一种全新的移动机器人路径规划算法。该算法能使规划的路径成功地得到短的无碰路径,而且收敛速度明显加快;除了适用于障碍物是多边形围成的图形外,还适用于障碍物是圆形的情形;允许设定不同的障碍物各条边的模拟退火初始温度,从而能够简单地避免某些局部极小值的情况。  相似文献   

14.
《计算机工程》2017,(12):203-210
针对烟花算法收敛速度慢和求解精度不高的问题,通过引入反向学习策略和动态记忆反馈的机制,提出一种优化算法。采用反向学习策略生成初始种群以保证群体的多样性,在原算法的结构中增加反馈层用于记忆上一代最优烟花的位置信息,并从反馈层记忆的信息中提取烟花位置信息变化趋势特征,从而动态更新下一次迭代的烟花种群。在10个典型基准测试函数中的仿真结果表明,与烟花算法、标准粒子群优化算法和增强烟花算法相比,该算法在收敛速度、计算精度以及稳定性方面性能更优。  相似文献   

15.
In this paper we will introduce the application of our newly patented double hierarchical Fuzzy-Genetic system (British patent 99-10539.7) to produce an intelligent autonomous outdoor agricultural mobile robot capable of learning and calibrating its controller online in a short time interval and implementing a life long learning strategy. The online and life long learning strategy allow the outdoor robots to increase their experience and adapt their controllers in the face of the changing and dynamic unstructured outdoor agricultural environments. Such characteristics permit prolonged periods of operation within dynamic agricultural environments, which is an essential feature for the realization of a platform vehicle for use in sustainable agriculture and organic farming.  相似文献   

16.
We present DRLViz, a visual analytics interface to interpret the internal memory of an agent (e.g. a robot) trained using deep reinforcement learning. This memory is composed of large temporal vectors updated when the agent moves in an environment and is not trivial to understand due to the number of dimensions, dependencies to past vectors, spatial/temporal correlations, and co-correlation between dimensions. It is often referred to as a black box as only inputs (images) and outputs (actions) are intelligible for humans. Using DRLViz, experts are assisted to interpret decisions using memory reduction interactions, and to investigate the role of parts of the memory when errors have been made (e.g. wrong direction). We report on DRLViz applied in the context of video games simulators (ViZDoom) for a navigation scenario with item gathering tasks. We also report on experts evaluation using DRLViz, and applicability of DRLViz to other scenarios and navigation problems beyond simulation games, as well as its contribution to black box models interpretability and explain-ability in the field of visual analytics.  相似文献   

17.
提出了一种基于异步的请求和应答消息的新型访存协议.相比于传统的同步总线式内存体系结构,可变粒度的访存提高了内存带宽的有效利用率,异步消息访问有利于内存容量的扩展.本文通过分析典型应用程序的访存行为评估了消息式内存可能带来的性能提升,并探讨了实现消息式内存所面临的挑战.  相似文献   

18.
This paper presents results comparing three simple inductive learning systems using different representations for concepts, namely: CNF formulae, DNF formulae, and decision trees. The CNF learner performs surprisingly well. Results on five natural data sets indicates that it frequently trains faster and produces more accurate and simpler concepts.  相似文献   

19.
International Journal of Control, Automation and Systems - This paper presents an end-to-end online learning navigation method based on deep reinforcement learning (DRL) for mobile robots, whose...  相似文献   

20.
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