完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.author | Pi, Chen-Huan | en_US |
dc.contributor.author | Hu, Kai-Chun | en_US |
dc.contributor.author | Cheng, Stone | en_US |
dc.contributor.author | Wu, I-Chen | en_US |
dc.date.accessioned | 2020-03-02T03:23:32Z | - |
dc.date.available | 2020-03-02T03:23:32Z | - |
dc.date.issued | 2020-02-01 | en_US |
dc.identifier.issn | 0967-0661 | en_US |
dc.identifier.uri | http://dx.doi.org/10.1016/j.conengprac.2019.104222 | en_US |
dc.identifier.uri | http://hdl.handle.net/11536/153802 | - |
dc.description.abstract | This paper proposes a low-level quadrotor control algorithm using neural networks with model-free reinforcement learning, then explores the algorithm's capabilities on quadrotor hover and tracking tasks. We provide a new point of view by examining the well-known policy gradient algorithm from reinforcement learning, then relaxing its requirements to improve training efficiency. Without requiring expert demonstrations, the improved algorithm is then applied to train a quadrotor controller with its output directly mapped to four actuators in a simulator, which is a technique used to control any linear or nonlinear system under unknown dynamic parameters and disturbances. We show two experimental tasks both in simulation and real-world quadrotors to verify our method and demonstrate performance: 1) hovering at a fixed position, and 2) tracking along a specific trajectory. | en_US |
dc.language.iso | en_US | en_US |
dc.subject | Reinforcement learning | en_US |
dc.subject | Policy gradient | en_US |
dc.subject | Quadrotor | en_US |
dc.title | Low-level autonomous control and tracking of quadrotor using reinforcement learning | en_US |
dc.type | Article | en_US |
dc.identifier.doi | 10.1016/j.conengprac.2019.104222 | en_US |
dc.identifier.journal | CONTROL ENGINEERING PRACTICE | en_US |
dc.citation.volume | 95 | en_US |
dc.citation.spage | 0 | en_US |
dc.citation.epage | 0 | en_US |
dc.contributor.department | 機械工程學系 | zh_TW |
dc.contributor.department | 應用數學系 | zh_TW |
dc.contributor.department | 資訊工程學系 | zh_TW |
dc.contributor.department | Department of Mechanical Engineering | en_US |
dc.contributor.department | Department of Applied Mathematics | en_US |
dc.contributor.department | Department of Computer Science | en_US |
dc.identifier.wosnumber | WOS:000510526900020 | en_US |
dc.citation.woscount | 0 | en_US |
顯示於類別: | 期刊論文 |