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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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 systems 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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