Robot motion control method and device based on actor-critic approach

A technology of robot movement and control method, applied in the field of machine learning

Inactive Publication Date: 2017-11-28
SUZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, for the off-policy AC method proposed in recent years, there is no research on its variance correlation

Method used

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  • Robot motion control method and device based on actor-critic approach
  • Robot motion control method and device based on actor-critic approach
  • Robot motion control method and device based on actor-critic approach

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Comparison scheme
Effect test

Embodiment 1

[0045] Embodiment 1: A robot motion control method, collects video data through a camera, processes the video data to obtain the position information of the current robot, obstacle distribution information, and given destination information; obtains a map through the analysis of the video data, and uses The position of the robot is used as the state of the robot x , the direction of motion of the robot as the action u ;Such as figure 1 As shown, the specific control method includes learning process and motion control.

[0046] The learning process includes the following steps:

[0047] 1 State transition

[0048] According to the environment model, the state of the robot is transferred, and then the action that should be executed in the new state is selected according to the behavior strategy. The behavior strategy adopts a completely random strategy, that is, the selection probabilities of all actions in any state are equal and the sum is 1.

[0049] 2 Calculate the off-...

Embodiment 8014

[0075] Off-PAC 1242.4

[0076] OPGTD2(λ) 1125.2

[0077] SARS-1747.8

[0078] In the method of the present invention, change the result that different μ value obtains:

[0079] VOPAC

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PUM

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Abstract

The invention discloses a robot motion control method and device based on the actor-critic method. The control method includes: collecting video data, obtaining the current location information of the robot, obstacle distribution information, and given destination information; The position of the robot is taken as the state of the robot, and the direction of movement of the robot is taken as the action; perform state transition; calculate the off-strategy factor; update the approximate average reward value and the approximate average square reward value; calculate the current average reward time difference and the average square reward time difference; Iterative update of approximate average reward parameters and approximate average square reward parameters; calculation of gradient of approximate average reward, calculation of gradient of approximate average square reward and update of policy parameters; state-action replacement. Repeat the above steps until the strategy parameters converge to realize the motion control of the robot. The invention realizes the intelligent motion control of the robot, and the control result is stable.

Description

technical field [0001] The invention relates to a robot motion control method, which belongs to the field of machine learning, in particular to a variance-related off-policy actor-critic control method and device. Background technique [0002] With the development of robotics research, how to intelligently control the movement of robots has become a key technical issue for the further development of robots. In the prior art, the motion control of the robot includes human control and automatic control. [0003] For example, Chinese invention patent application CN105313129A discloses a video-based robot walking motion control method. The robot camera collects video images, checks the robot video images on a mobile terminal (PAD or mobile phone), and slides on the mobile terminal video images through fingers. Damage, to control the walking motion of the robot. This technical solution belongs to human control, although the control in the non-visual distance can be realized thr...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 刘全许丹朱斐
Owner SUZHOU UNIV
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