Blind guiding robot of optimal output feedback controller and based on reinforcement learning

A blind-guiding robot and output feedback technology, applied in the field of robotics, can solve problems such as the unpredictable state of the blind-guiding robot system

Active Publication Date: 2020-12-25
CHONGQING UNIV
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Problems solved by technology

[0005] However, considering that many unknown changes will occur during the guiding process of the blind guide robot (generally in the actual device, there are generally amplitude constraints, that is, constraint input or execution controller saturation), so the c

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  • Blind guiding robot of optimal output feedback controller and based on reinforcement learning
  • Blind guiding robot of optimal output feedback controller and based on reinforcement learning
  • Blind guiding robot of optimal output feedback controller and based on reinforcement learning

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Embodiment Construction

[0142] Embodiments of the present invention are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the diagrams provided in the following embodiments are only schematically illustrating the basic concept of the present invention, and the following embodiments and the features in the embodiments can be combined with each other in the case of no conflict.

[0143] Wherein, the accompanying drawings are for illustrative purposes only, and represent only schematic diagrams, rather than physical drawings, and should...

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Abstract

The invention relates to a blind guiding robot of an optimal output feedback controller and based on reinforcement learning, and belongs to the technical field of robots. By adopting a realsense D435idepth camera as a visual sensor, real-time environment information of the blind guiding robot in the advancing guiding process can be accurately and efficiently obtained. In order to solve the problem that a blind guiding robot faces many unstable factors in the moving process, a model-free synchronous integral reinforcement learning controller based on an ADP method is designed, an HJB equationof a constructed cost function is established by constructing the cost function of a blind guiding robot system based on reinforcement learning, the HJB equation is solved through a method based on synchronous reinforcement learning, and finally an optimal solution is obtained through an iterative method, so that the optimal control of the blind guiding robot system is achieved.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a blind-guiding robot based on an optimal output feedback controller of reinforcement learning. Background technique [0002] At present, there are not many types of blind-guiding machines, and the main types are (1) blind-guiding cane: the most common thing for the visually impaired is to hold a white cane, but the cane is simple in structure and not intelligent. (2) Wearable blind guide aids: can be divided into guided and panoramic types; guided type is mainly for obstacle avoidance, while panoramic type adds ultrasonic waves to the functional requirements of obstacle avoidance, Attempts to compose a picture of the surrounding environment of the visually impaired. (3) Mobile blind-guiding robot: its main principle is based on the mobile robot, adding infrared sensing and ultrasonic modules to detect surrounding obstacles. Among the above three types of blind-guiding machines, t...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0253G05D1/0257G05D1/0223G05D1/0221G05D1/0276G05D2201/02
Inventor 陈刚林卓龙
Owner CHONGQING UNIV
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