關鍵字查詢 | 類別:會議論文 | | 關鍵字:A Practical Fuzzy Controller with Q-learning Approach for the Path Tracking of a Walking-aid Robot

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1 102/1 電機系 李祖添 教授 會議論文 發佈 A Practical Fuzzy Controller with Q-learning Approach for the Path Tracking of a Walking-aid Robot , [102-1] :A Practical Fuzzy Controller with Q-learning Approach for the Path Tracking of a Walking-aid Robot會議論文A Practical Fuzzy Controller with Q-learning Approach for the Path Tracking of a Walking-aid RobotLee, Tsu-Tian; Lin, Chun-Tse; Chiang, Hsin-Han淡江大學電機工程學系2013 Proceedings of SICE Annual Conference, pp.888-893This study tackles the path tracking problem of a prototype walking-aid (WAid) robot which features the human-robot interactive navigation. A practical fuzzy controller is proposed for the path tracking control under reinforcement learning ability. The inputs to the designed fuzzy controller are the error distance and the error angle between the current and the desired position and orientation, respectively. The controller outputs are the voltages applied to the left- and right-wheel motors. A heuristic fuzzy control with the Sugeno-type rules is then designed based on a model-free approach. The consequent part of each fuzzy control rule is designed with the aid of Q-learning appro
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