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基于LSPI和滚动窗口的移动机器人反应式导航方法 被引量：6

A reactive navigation method of mobile robots based on LSPI and rolling windows
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摘要 结合最小二乘策略迭代(Least-squares policy iteration,LSPI)的算法特性和基于滚动窗口的实时重规划,提出一种新的基于LSPI和滚动窗口的反应式导航学习控制方法。仿真和实验结果表明:该方法对移动机器人在未知环境中的运动控制有效,并且对未知环境具有自适应性。 Combining the advantages of least-squares policy iteration（LSPI）and path planning based on rolling windows, a novel reactive navigation method based on LSPI,and rolling windows was presented.The results show that the proposed method is effective for reactive navigation of mobile robots in unknown environment and the adaptation for unknown environments of the proposed method is verified.
作者 刘春明 李兆斌 黄振华 左磊 吴军 徐昕
机构地区 国防科技大学机电工程与自动化学院
出处 《中南大学学报（自然科学版）》 EI CAS CSCD 北大核心 2013年第3期970-977,共8页 Journal of Central South University:Science and Technology
基金 国家自然科学基金资助项目(61075072 90820302) 教育部新世纪优秀人才支持计划(NCET-10-0901)
关键词 移动机器人 反应式导航 增强学习 LSPI 滚动窗口 reactive navigation reinforcement learning LSPI rolling windows
分类号 TP181 [自动化与计算机技术—控制理论与控制工程]
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参考文献17

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二级参考文献11

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共引文献82

同被引文献42

引证文献6

二级引证文献107

中南大学学报（自然科学版）
2013年 第3期

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