中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Robot Obstacle Avoidance Learning Based on Mixture Models

文献类型:期刊论文

作者Zhang HW(张会文); Han XN(韩小宁); Fu ML(付明亮)
刊名Journal of Robotics
出版日期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).
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.

入库方式: OAI收割

来源:沈阳自动化研究所

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