Robot Obstacle Avoidance Learning Based on Mixture Models | |
Zhang HW(张会文); Han XN(韩小宁); Fu ML(付明亮) | |
刊名 | Journal of Robotics |
2016 | |
卷号 | 2016页码:1-14 |
ISSN号 | 1687-9600 |
产权排序 | 1 |
英文摘要 | We briefly surveyed the existing obstacle avoidance algorithms; then a new obstacle avoidance learning framework based on learning from demonstration (LfD) is proposed. The main idea is to imitate the obstacle avoidance mechanism of human beings, in which humans learn to make a decision based on the sensor information obtained by interacting with environment. Firstly, we endow robots with obstacle avoidance experience by teaching them to avoid obstacles in different situations. In this process, a lot of data are collected as a training set; then, to encode the training set data, which is equivalent to extracting the constraints of the task, Gaussian mixture model (GMM) is used. Secondly, a smooth obstacle-free path is generated by Gaussian mixture regression (GMR). Thirdly, a metric of imitation performance is constructed to derive a proper control policy. The proposed framework shows excellent generalization performance, which means that the robots can fulfill obstacle avoidance task efficiently in a dynamic environment. More importantly, the framework allows learning a wide variety of skills, such as grasp and manipulation work, which makes it possible to build a robot with versatile functions. Finally, simulation experiments are conducted on a Turtlebot robot to verify the validity of our algorithms. |
语种 | 英语 |
资助机构 | National Natural Science Foundation of China (Grant no. 51505470) and the Dr. Startup Fund in Liaoning province (20141152). |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/19199] |
专题 | 沈阳自动化研究所_空间自动化技术研究室 |
通讯作者 | Zhang HW(张会文) |
作者单位 | 1.University of Chinese Academy of Sciences, Beijing, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China |
推荐引用方式 GB/T 7714 | Zhang HW,Han XN,Fu ML. Robot Obstacle Avoidance Learning Based on Mixture Models[J]. Journal of Robotics,2016,2016:1-14. |
APA | Zhang HW,Han XN,&Fu ML.(2016).Robot Obstacle Avoidance Learning Based on Mixture Models.Journal of Robotics,2016,1-14. |
MLA | Zhang HW,et al."Robot Obstacle Avoidance Learning Based on Mixture Models".Journal of Robotics 2016(2016):1-14. |
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