| 输电线路除冰机器人行为控制研究 |
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| 引用本文： | 王耀南,周原力,谭磊,杨易旻. 输电线路除冰机器人行为控制研究[J]. 控制工程, 2011, 18(3): 434-438 |
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| 作者姓名： | 王耀南 周原力 谭磊 杨易旻 |
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| 作者单位： | 湖南大学,电气与信息工程学院,湖南,长沙,410082 |
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| 基金项目： | 国家863项目(2008AA04Z214); 国家支撑计划项目(2008BAF36B01); 国家自然科学基金重点项目(60835004) |
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| 摘 要： | 介绍了输电线路除冰机器人的研究现状.针对其工作环境恶劣、不确定因素多的特点,提出了基于马尔可夫决策的行为控制器的设计方法.该方法首先定义了输电线除冰机器人的马尔可夫模型,然后给出了相应的最优方针搜索策略,还给控制器添加了概率调节机制,以达到执行效果反馈的目的.为解决机器人作业中的突发情况,在该方法中还引入了人工辅助和行...
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| 关 键 词： | 输电线路除冰机器人 行为控制 马尔可夫决策 行为学习网络 人工辅助 |
Research of Behavior Control for Transmission Line De-icing Robot |
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| WANG Yao-nan,ZHOU Yuan-li,TAN lei,YANG Yi-min. Research of Behavior Control for Transmission Line De-icing Robot[J]. Control Engineering of China, 2011, 18(3): 434-438 |
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| Authors: | WANG Yao-nan ZHOU Yuan-li TAN lei YANG Yi-min |
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| Affiliation: | WANG Yao-nan,ZHOU Yuan-li,TAN Lei,YANG Yi-min(College of Electrical and Information Engineering,Hunan University,Changsha 410082,China) |
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| Abstract: | The present situation of the research of transmission line de-icing robot is introduced.A behavior controller based on Markov Decision Process(MDP)is presented for robot's poor working environment and uncertainty.First the MDP model of the transmission line de-icing robot is defined,and then the search strategy of optimal policy is given,finally the mechanism of probability adjustment is added for the feedback of the result of implementation.Artificial auxiliary and learning behavior networks is introduced ... |
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| Keywords: | transmission line de-icing robot behavior control MDP learning behavior networks artificial auxiliary |
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