Online parameter adaptive control of mobile robots based on deep reinforcement learning under multiple optimisation objectives
Fixed control parameters and various optimisation objectives significantly limit the robot control performance. To address such issues, a parameter adaptive controller based on deep reinforcement learning is introduced firstly to adjust control parameters according to the real‐time system state. Fur...
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| Vydáno v: | Cognitive computation and systems Ročník 6; číslo 4; s. 86 - 97 |
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| Hlavní autoři: | , |
| Médium: | Journal Article |
| Jazyk: | angličtina |
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Dordrecht
John Wiley & Sons, Inc
01.12.2024
Wiley |
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| ISSN: | 2517-7567, 1873-9601, 2517-7567, 1873-961X |
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| Abstract | Fixed control parameters and various optimisation objectives significantly limit the robot control performance. To address such issues, a parameter adaptive controller based on deep reinforcement learning is introduced firstly to adjust control parameters according to the real‐time system state. Further, multiple evaluation mechanisms are constructed to take account of optimisation objectives so that the controller can adapt to different control performance indexes by different evaluation mechanisms. Finally, the target pedestrian tracking control with mobile robots is selected as the validation case study, and the Proportional‐Derivative Controller is chosen as the foundation controller. Several simulation and experimental examples are designed, and the results demonstrate that the proposed method shows satisfactory performance while taking account of multiple optimisation objectives. |
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| AbstractList | Abstract Fixed control parameters and various optimisation objectives significantly limit the robot control performance. To address such issues, a parameter adaptive controller based on deep reinforcement learning is introduced firstly to adjust control parameters according to the real‐time system state. Further, multiple evaluation mechanisms are constructed to take account of optimisation objectives so that the controller can adapt to different control performance indexes by different evaluation mechanisms. Finally, the target pedestrian tracking control with mobile robots is selected as the validation case study, and the Proportional‐Derivative Controller is chosen as the foundation controller. Several simulation and experimental examples are designed, and the results demonstrate that the proposed method shows satisfactory performance while taking account of multiple optimisation objectives. Fixed control parameters and various optimisation objectives significantly limit the robot control performance. To address such issues, a parameter adaptive controller based on deep reinforcement learning is introduced firstly to adjust control parameters according to the real‐time system state. Further, multiple evaluation mechanisms are constructed to take account of optimisation objectives so that the controller can adapt to different control performance indexes by different evaluation mechanisms. Finally, the target pedestrian tracking control with mobile robots is selected as the validation case study, and the Proportional‐Derivative Controller is chosen as the foundation controller. Several simulation and experimental examples are designed, and the results demonstrate that the proposed method shows satisfactory performance while taking account of multiple optimisation objectives. |
| Author | Sui, Xiuli Chen, Haiyong |
| Author_xml | – sequence: 1 givenname: Xiuli orcidid: 0009-0001-0888-9647 surname: Sui fullname: Sui, Xiuli email: suixl08@163.com organization: Hebei University of Technology – sequence: 2 givenname: Haiyong surname: Chen fullname: Chen, Haiyong organization: Hebei University of Technology |
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| Cites_doi | 10.1007/978-3-319-27702-8_40 10.1109/tfuzz.2002.806314 10.1109/tii.2018.2792455 10.1016/j.isatra.2014.03.003 10.1109/tsmc.2017.2703127 10.1016/s0921‐8890(02)00377‐9 10.1109/tie.2009.2020077 10.1109/ROBOT.1987.1087742 10.1016/j.automatica.2016.06.008 10.1109/IROS.2017.8206048 10.1109/ICRA.2019.8794127 10.1109/37.248006 10.1038/nature14236 |
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| Copyright | 2024 The Author(s). published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology and Shenzhen University. 2024. This work is published under http://creativecommons.org/licenses/by/4.0/ (the "License"). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. |
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| SubjectTerms | Adaptation Control algorithms Controllers Deep learning Design learning (artificial intelligence) mobile robots Neural networks Objectives Real time Reinforcement Robots |
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| Title | Online parameter adaptive control of mobile robots based on deep reinforcement learning under multiple optimisation objectives |
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