Reinforcement Learning for Collision-Free Motion Control
碩士 === 國立交通大學 === 控制工程系 === 82 === This thesis applies reinforcement learning to the collision- free motion control problem. There are two general reinforcement learning methods, the direct and indirect method. We present a direct method, t...
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ndltd-TW-082NCTU03270292016-07-18T04:09:34Z http://ndltd.ncl.edu.tw/handle/92447171374639621352 Reinforcement Learning for Collision-Free Motion Control 加強式學習於避碰運動控制之應用 Yii-Neng Hu 胡以能 碩士 國立交通大學 控制工程系 82 This thesis applies reinforcement learning to the collision- free motion control problem. There are two general reinforcement learning methods, the direct and indirect method. We present a direct method, the stochastic learning scheme, and an indirect method, the model-based learning scheme. The focus is on justify the effectiveness and efficiency of these schemes on the robot collision-free motion control problem. The results of simulations show that the stochastic learning scheme outperforms the model-based learning scheme, but both learning methods have their own limitations and disadvantages. It is suggested that reinforcement learning control is an effective alternative in dealing with less-structured control problems. Chi-Cheng Jou 周志成 1994 學位論文 ; thesis 74 en_US |
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碩士 === 國立交通大學 === 控制工程系 === 82 === This thesis applies reinforcement learning to the collision-
free motion control problem. There are two general
reinforcement learning methods, the direct and indirect method.
We present a direct method, the stochastic learning scheme, and
an indirect method, the model-based learning scheme. The focus
is on justify the effectiveness and efficiency of these schemes
on the robot collision-free motion control problem. The results
of simulations show that the stochastic learning scheme
outperforms the model-based learning scheme, but both learning
methods have their own limitations and disadvantages. It is
suggested that reinforcement learning control is an effective
alternative in dealing with less-structured control problems.
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author2 |
Chi-Cheng Jou |
author_facet |
Chi-Cheng Jou Yii-Neng Hu 胡以能 |
author |
Yii-Neng Hu 胡以能 |
spellingShingle |
Yii-Neng Hu 胡以能 Reinforcement Learning for Collision-Free Motion Control |
author_sort |
Yii-Neng Hu |
title |
Reinforcement Learning for Collision-Free Motion Control |
title_short |
Reinforcement Learning for Collision-Free Motion Control |
title_full |
Reinforcement Learning for Collision-Free Motion Control |
title_fullStr |
Reinforcement Learning for Collision-Free Motion Control |
title_full_unstemmed |
Reinforcement Learning for Collision-Free Motion Control |
title_sort |
reinforcement learning for collision-free motion control |
publishDate |
1994 |
url |
http://ndltd.ncl.edu.tw/handle/92447171374639621352 |
work_keys_str_mv |
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