Methodology of Concept Control Synthesis to Avoid Unmoving and Moving Obstacles

The dynamic path generation problem of robots in environments with other unmoving and moving objects is considered. Generally, the problem is known in the literature as find path or robot motion planning. In this paper, we apply the behavioral cloning approach to design the robot controller. In beha...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2003-05, Vol.37 (1), p.21-41
Main Authors: Kulic, Ranka, Vukic, Zoran
Format: Article
Language:English
Subjects:
Cloning
Dynamical systems
Dynamics
Mathematical analysis
Obstacles
Operators
Robots
Studies
Trajectories
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Summary:The dynamic path generation problem of robots in environments with other unmoving and moving objects is considered. Generally, the problem is known in the literature as find path or robot motion planning. In this paper, we apply the behavioral cloning approach to design the robot controller. In behavioral cloning, the system learns from control traces of a human operator. The task for the given problem is to find a controller in the form of an explicit mathematical expression. Thus, machine learning programs to induce the operator's trajectories as a set of symbolic constraints are used. Then, mathematical induction to generalize the obtained equations in order to apply them in situ with an infinite number of obstacles is also used. A method to evaluate cloning success is proposed. The typical kind of noise is included.
ISSN:0921-0296
1573-0409
DOI:10.1023/A:1023926804240