發(fā)布時(shí)間：2018-10-12 21:06

【摘要】：針對(duì)輪式移動(dòng)機(jī)器人運(yùn)動(dòng)規(guī)劃的非完整性問題,采用自適應(yīng)動(dòng)態(tài)規(guī)劃(Adaptive Dynamic Programming,ADP)方法求解其最優(yōu)控制。通過建立輪式機(jī)器人的動(dòng)力學(xué)模型,選取狀態(tài)變量和控制變量,將其轉(zhuǎn)化為對(duì)動(dòng)態(tài)規(guī)劃問題的求解。根據(jù)自適應(yīng)動(dòng)態(tài)規(guī)劃網(wǎng)絡(luò)結(jié)構(gòu),利用評(píng)價(jià)網(wǎng)絡(luò)近似性能指標(biāo)函數(shù),執(zhí)行網(wǎng)絡(luò)逼近控制變量,并給出了適合該類問題的一種效用函數(shù)的具體表達(dá)式,實(shí)現(xiàn)了對(duì)輪式機(jī)器人非完整運(yùn)動(dòng)規(guī)劃的最優(yōu)控制。通過數(shù)值仿真實(shí)驗(yàn),驗(yàn)證了ADP求解輪式機(jī)器人非完整運(yùn)動(dòng)規(guī)劃最優(yōu)控制問題的有效性。
[Abstract]:In order to solve the non-integrality problem of wheeled mobile robot motion planning, adaptive dynamic programming (Adaptive Dynamic Programming,ADP) method is used to solve the optimal control problem. The dynamic model of wheeled robot is established, and the state variable and control variable are selected to solve the dynamic programming problem. According to the network structure of adaptive dynamic programming, the approximate performance index function of the evaluation network is used to perform the network approximation control variable, and the concrete expression of a utility function suitable for this kind of problem is given. The optimal control of nonholonomic motion planning of wheeled robot is realized. The effectiveness of ADP in solving the optimal control problem of nonholonomic motion planning of wheeled robot is verified by numerical simulation.
【作者單位】： 北京信息科技大學(xué)自動(dòng)化學(xué)院;北京信息科技大學(xué)理學(xué)院;
【基金】：國(guó)家自然科學(xué)基金(11472058)
【分類號(hào)】：TP242

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