Online parameter adaptive control of mobile robots based on deep reinforcement learning under multiple optimisation objectives
Abstract Fixed control parameters and various optimisation objectives significantly limit the robot control performance. To address such issues, a parameter adaptive controller based on deep reinforcement learning is introduced firstly to adjust control parameters according to the real‐time system s...
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| Format: | Article |
| Language: | English |
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Wiley
2024-12-01
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| Series: | Cognitive Computation and Systems |
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| Online Access: | https://doi.org/10.1049/ccs2.12105 |
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| _version_ | 1846107320204918784 |
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| author | Xiuli Sui Haiyong Chen |
| author_facet | Xiuli Sui Haiyong Chen |
| author_sort | Xiuli Sui |
| collection | DOAJ |
| description | Abstract Fixed control parameters and various optimisation objectives significantly limit the robot control performance. To address such issues, a parameter adaptive controller based on deep reinforcement learning is introduced firstly to adjust control parameters according to the real‐time system state. Further, multiple evaluation mechanisms are constructed to take account of optimisation objectives so that the controller can adapt to different control performance indexes by different evaluation mechanisms. Finally, the target pedestrian tracking control with mobile robots is selected as the validation case study, and the Proportional‐Derivative Controller is chosen as the foundation controller. Several simulation and experimental examples are designed, and the results demonstrate that the proposed method shows satisfactory performance while taking account of multiple optimisation objectives. |
| format | Article |
| id | doaj-art-f56dd46aa1f94f888b0905ac5d6f6e21 |
| institution | Kabale University |
| issn | 2517-7567 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Wiley |
| record_format | Article |
| series | Cognitive Computation and Systems |
| spelling | doaj-art-f56dd46aa1f94f888b0905ac5d6f6e212024-12-26T15:31:31ZengWileyCognitive Computation and Systems2517-75672024-12-0164869710.1049/ccs2.12105Online parameter adaptive control of mobile robots based on deep reinforcement learning under multiple optimisation objectivesXiuli Sui0Haiyong Chen1Software & Communication School Tianjin Sino‐German University of Applied Sciences Tianjin ChinaSchool of Artificial Intelligence Hebei University of Technology Tianjin ChinaAbstract Fixed control parameters and various optimisation objectives significantly limit the robot control performance. To address such issues, a parameter adaptive controller based on deep reinforcement learning is introduced firstly to adjust control parameters according to the real‐time system state. Further, multiple evaluation mechanisms are constructed to take account of optimisation objectives so that the controller can adapt to different control performance indexes by different evaluation mechanisms. Finally, the target pedestrian tracking control with mobile robots is selected as the validation case study, and the Proportional‐Derivative Controller is chosen as the foundation controller. Several simulation and experimental examples are designed, and the results demonstrate that the proposed method shows satisfactory performance while taking account of multiple optimisation objectives.https://doi.org/10.1049/ccs2.12105learning (artificial intelligence)mobile robots |
| spellingShingle | Xiuli Sui Haiyong Chen Online parameter adaptive control of mobile robots based on deep reinforcement learning under multiple optimisation objectives Cognitive Computation and Systems learning (artificial intelligence) mobile robots |
| title | Online parameter adaptive control of mobile robots based on deep reinforcement learning under multiple optimisation objectives |
| title_full | Online parameter adaptive control of mobile robots based on deep reinforcement learning under multiple optimisation objectives |
| title_fullStr | Online parameter adaptive control of mobile robots based on deep reinforcement learning under multiple optimisation objectives |
| title_full_unstemmed | Online parameter adaptive control of mobile robots based on deep reinforcement learning under multiple optimisation objectives |
| title_short | Online parameter adaptive control of mobile robots based on deep reinforcement learning under multiple optimisation objectives |
| title_sort | online parameter adaptive control of mobile robots based on deep reinforcement learning under multiple optimisation objectives |
| topic | learning (artificial intelligence) mobile robots |
| url | https://doi.org/10.1049/ccs2.12105 |
| work_keys_str_mv | AT xiulisui onlineparameteradaptivecontrolofmobilerobotsbasedondeepreinforcementlearningundermultipleoptimisationobjectives AT haiyongchen onlineparameteradaptivecontrolofmobilerobotsbasedondeepreinforcementlearningundermultipleoptimisationobjectives |