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Model-Free Recurrent Reinforcement Learning for AUV Horizontal Control
Huo YJ(霍雨佳)1,2; Li YP(李一平)1; Feng XS(封锡盛)1
作者部门水下机器人研究室
会议名称2018 3rd International Conference on Automation, Control and Robotics Engineering, CACRE 2018
会议日期July 19, 2018 - July 22, 2018
会议地点Chengdu, China
会议录名称3rd International Conference on Automation, Control and Robotics Engineering, CACRE 2018
出版者IOP PUBLISHING LTD
出版地BRISTOL, ENGLAND
2018
页码1-8
收录类别EI
EI收录号20184205940937
产权排序1
ISSN号1757-8981
摘要In this paper, aiming at the problems of 2-DOF horizontal motion control with high precision for autonomous underwater vehicle(AUV) trajectory tracking tasks, deep reinforcement learning controllers are applied to these conditions. These control problems are considered as a POMDP (Partially Observable Markov Decision Process). Model-free reinforcement learning(RL) algorithms for continuous control mission based on Deterministic Policy Gradient(DPG) allows robots learn from received delayed rewards when interacting with environments. Recurrent neural networks LSTM (Long Short-Term Memory) are involved into the reinforcement learning algorithm. Through this deep reinforcement learning algorithm, AUVs learn from sequences of dynamic information. The horizontal trajectory tracking tasks are described by LOS method and the motion control are idealized as a SISO model. Tanh-estimators are presented as data normalization. Moreover, AUV horizontal trajectory tracking and motion control simulation results demonstrate this algorithm gets better accuracy compared with the PID method and other non-recurrent methods. Efforts show the efficiency and effectiveness of the improved deep reinforcement learning algorithm.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/23428
专题水下机器人研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese, Academy of Sciences, Beijing 100049, China
推荐引用方式
GB/T 7714
Huo YJ,Li YP,Feng XS. Model-Free Recurrent Reinforcement Learning for AUV Horizontal Control[C]. BRISTOL, ENGLAND:IOP PUBLISHING LTD,2018:1-8.
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