| 基于自适应动态规划算法的小车自主导航控制策略设计 |
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| 引用本文： | 方啸,郑德忠.基于自适应动态规划算法的小车自主导航控制策略设计[J].燕山大学学报,2014(1):57-65. |
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| 作者姓名： | 方啸 郑德忠 |
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| 作者单位： | [1]燕山大学电气工程学院,河北秦皇岛066004 [2]罗德岛大学电气工程学院,罗德岛（美）金斯顿02881 |
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| 基金项目： | 基金项目：国家火炬计划、重点新产品专项基金资助项目（2009GJA20001） |
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| 摘 要： | 小车自主导航系统是路径规划领域研究的难点问题。本文利用自适应动态规划算法对小车自主寻路、避障的控制策略进行了设计。介绍了仿真过程中小车检测环境状态量的方法,提出了小车通过连续型奖励/惩罚信号自主学习寻路、避障的控制策略,并结合虚拟现实技术创建了不同路径和不同障碍物状态的仿真环境。通过不同路径状态的仿真实验,验证了自适应动态规划算法在解决小车自主导航避障控制策略问题上的可靠性和稳定性。
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| 关 键 词： | 自主导航 避障 自适应控制 神经网络 动态规划 虚拟现实 |
Control strategy design for car autonomous navigation using adaptive dynamic programming |
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| FANG Xiao,ZHENG De-zhong.Control strategy design for car autonomous navigation using adaptive dynamic programming[J].Journal of Yanshan University,2014(1):57-65. |
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| Authors: | FANG Xiao ZHENG De-zhong |
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| Affiliation: | 1. College of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, China; 2. Department of Electrical Computer and Biomedical Engineering, University of Rhode Island, Kingston, Rhode Island 02881, USA) |
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| Abstract: | The car autonomous navigation system has been a hot topic in path planning. This paper focuses on control strategy design for car autonomous navigation with obstacles avoidance by using adaptive dynamic programming （ADP） approach. First, the method for car observing the environment in simulation process is introduced. Second, a continuous reward/punishmen signal for car autonomous learning the control strategy is proposed. Third, the different simulation environment with different obstacles＇ states are established by virtual reality （VR） technology. The simulation results show that the ADP approach provides the suitable reliability and stability for control strategy design on autonomous navigation problem. |
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| Keywords: | autonomous navigation obstacle avoidance adaptive control neural network dynamic programming virtual reality |
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