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ID:39402892
大小:985.50 KB
页数:63页
时间:2019-07-02
《基于示范的移动机器人导航技术》由会员上传分享,免费在线阅读,更多相关内容在行业资料-天天文库。
1、中国科学技术大学硕士学位论文基于示范的移动机器人导航技术姓名:刘年庆申请学位级别:硕士专业:模式识别与智能系统指导教师:陈宗海20050401AKtsteerEhnancavsYsohtiTWkritrhmOsothoeRadeinreDnlcsmeiSdtmesn:cugenumLrotleeetmhath,olaspoTddmorlfacofneusadreixtknexhnnRrlepgareeieiFvpcnrnricrogireoggamesamnpaeseipDntenszrteitt
2、eoimhaewadoetacefnilhfnseol,tctn,witir,chfvEaoiiennrcteevnhsisiseptoorrhfnoaoel,nnvmeHmdieaiegdtreaehnrpsoiapednrfrogeffcfcelrhiceolistamecerdaalnerlyimnAinoibngntsfsghrttheorireImgalndhclve・tlmnBoitervnaoehslnsoakMmunvioepsildnptoletorrsl.ra-,iTttBnh
3、figaioosrsnsraeondnbdaotrtheation.evel中国科学技术大学硕士学位论文ABSTRACTABSTRACTWiththedevelopmentoftherobotskills,thattherobotcouldhaveintelligenceandautonomousachievetaskindependently,iSanurgentneedforthedevelopmentofrobotandinvariousdomain.Designingcontrollers
4、forthesetypesoftasksisusuallydonebypeoplespecializedinprogrammingrobots.Evenforthem,mostoftenthisisacomplicatedprocess,asitessentiallyrequirescreatingbyhandanewanddifi:rentcontrollerforeachparticulartask..Thenumberofsituationsthattherobotmayfaceandthe
5、widespectrumoftasksitmayhavetoperformmakethejobofrobotprogrammingdifficult.Rtahtehtaesrktshitasnupserres—mipgrhotwgarnatimtmtiopnegrafroromb,owhtifcohirSai1nf1easibleinmostcases.thattherobotcouldlearnsuchtasksfromtheuser,throughflexibleandnaturalinter
6、aetion.whichiStheimportantresearchdirectionfortherobotlearning.Thisdissertationpresentsaframeworkthatenablesrobotstolearncomplexnavigationskillsfromdemonstrations.basedonasetofavailablerobotcapabilitiesItallowsarobottOlearnrepresentationsofhigh-levelt
7、asksandcomplexnavigationskillsfromteacher-followingdemonstrations,whichemploysaction-embeddedrepresentationsToenablethistypeoflearning,theunderlyingrobotcontrolarchitectureshouldexhibitthefollowingkeyproperties:modularity,reusabilityofexistingmodules,
8、robustnessandreal-timeresponse,supportforlearningandtheabilitytoencodecomplextaskrepresentations.ThedissertationpresentsahierarchicalabstractbehaviorarchitecturethatextendsthestandardBehavior-basedcontrolinthat:thebehaviorsaredividedintotwocom
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