方 啸,郑德忠.移动机器人自主寻路避障启发式动态规划算法[J].农业机械学报,2014,45(7):73-78.
Fang Xiao,Zheng Dezhong.Goal Seeking of Autonomous Mobile Robot with Obstacle Avoidance Using Heuristic Dynamic Programming[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(7):73-78.
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移动机器人自主寻路避障启发式动态规划算法   [下载全文]
Goal Seeking of Autonomous Mobile Robot with Obstacle Avoidance Using Heuristic Dynamic Programming   [Download Pdf][in English]
投稿时间:2014-02-23  
DOI:10.6041/j.issn.1000-1298.2014.07.012
中文关键词:  移动机器人 寻路避障 启发式动态规划 强化学习
基金项目:国家火炬计划资助项目和国家重点新产品专项基金资助项目(2009GJA20001)
作者单位
方 啸 燕山大学
罗德岛大学 
郑德忠 燕山大学 
中文摘要:用启发式动态规划算法解决移动机器人自主寻路、避障问题。提出了传感器检测环境状态的方法,以及对传感器检测信息进行归一化处理的方案。对输入、输出量以及学习系统的强化信号进行定义,设计了机器人自主学习寻路、避障的控制策略。定义了连续型强化信号,使机器人通过学习,对优先寻路还是优先避障做出决策判断。为验证启发式动态规划算法在移动机器人寻路、避障问题上的学习能力,设计了3种不同的寻路、避障仿真实验:同目标、不同起始点,同起始点、不同目标,和移动目标仿真实验。仿真结果表明,对于不同的寻路、避障要求,基于启发式动态规划算法的移动机器人具有良好的学习及适应能力。
Fang Xiao  Zheng Dezhong
Yanshan University;University of Rhode Island;Yanshan University
Key Words:Mobile robot Goal seeking with obstacle avoidance Heuristic dynamic programming Reinforcement learning
Abstract:Heuristic dynamic programming (HDP) design for autonomous mobile robot was put forward to solve the goal seeking with obstacle avoidance problem. A method of sensor detecting was proposed, and the method for system normalizing the sensors’ inputs information was discussed. The input/output signal and reinforcement signal were defined, and a self learning strategy for robot seeking the goal with obstacle avoidance was proposed. A continuous reinforcement signal to improve the systems preferential decision between goal seeking and obstacle avoidance was designed. To verify the learning ability of our algorithm, three different simulation experiments were designed: same goal with different initial points and directions, same initial states with different goals, moving goal. The simulation results show that the HDP approach presents an effective learning ability for autonomous mobile robot on goal seeking with obstacle avoidance problem.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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