| 基于强化学习的机器人操作手轨迹规划方法研究 |
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| 引用本文： | 童亮,陆际联. 基于强化学习的机器人操作手轨迹规划方法研究[J]. 制造技术与机床, 2005, 0(5): 33-36 |
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| 作者姓名： | 童亮 陆际联 |
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| 作者单位： | 北京理工大学机械与车辆工程学院,北京,100081 |
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| 摘 要： | 由于机器人操作手具有高度非线性、强耦合和变结构的动态特性,因此,利用传统控制理论很难实现对机器人操作手的有效控制.文章对基于径向基函数网络的强化学习在机器人操作手的多智能体环境中的轨迹规划进行了研究.仿真实验结果证明了研究方法的可行性.
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| 关 键 词： | 机器人操作手 轨迹规划 强化学习 径向基函数网络 |
| 修稿时间： | 2004-06-08 |
Research on Path-planning of Robot Manipulator Based on Reinforcement Learning |
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| TONG Liang,Lu Jilian. Research on Path-planning of Robot Manipulator Based on Reinforcement Learning[J]. Manufacturing Technology & Machine Tool, 2005, 0(5): 33-36 |
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| Authors: | TONG Liang Lu Jilian |
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| Abstract: | Because of the dynamic characteristic of high nonlinear,strong coupling and variable structure,it is difficult to perform effective controlling on the robot manipulator by conventional controlling theory.In this paper,a reinforcement learning method based on RBF net is proposed which is used in the multi-agent environment of robot manipulator path-planning and the simulation experiment shows the validity of this method. |
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| Keywords: | Robot Manipulator Path-planning Reinforcement Learning RBF Net |
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