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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
Department水下机器人研究室
Conference Name2018 3rd International Conference on Automation, Control and Robotics Engineering, CACRE 2018
Conference DateJuly 19, 2018 - July 22, 2018
Conference PlaceChengdu, China
Source Publication3rd International Conference on Automation, Control and Robotics Engineering, CACRE 2018
PublisherIOP PUBLISHING LTD
Publication PlaceBRISTOL, ENGLAND
2018
Pages1-8
Indexed ByEI ; CPCI(ISTP)
EI Accession number20184205940937
WOS IDWOS:000467866100063
Contribution Rank1
ISSN1757-8981
AbstractIn 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/23428
Collection水下机器人研究室
Corresponding AuthorHuo YJ(霍雨佳)
Affiliation1.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
Recommended Citation
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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