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Autonomous Robots
Erschienen in: Autonomous Robots 4/2017

04.08.2016

A confidence-based roadmap using Gaussian process regression

verfasst von: Yuya Okadome, Yutaka Nakamura, Hiroshi Ishiguro

Erschienen in: Autonomous Robots | Ausgabe 4/2017

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Abstract

Recent advances in high performance computing have allowed sampling-based motion planning methods to be successfully applied to practical robot control problems. In such methods, a graph representing the local connectivity among states is constructed using a mathematical model of the controlled target. The motion is planned using this graph. However, it is difficult to obtain an appropriate mathematical model in advance when the behavior of the robot is affected by unanticipated factors. Therefore, it is crucial to be able to build a mathematical model from the motion data gathered by monitoring the robot in operation. However, when these data are sparse, uncertainty may be introduced into the model. To deal with this uncertainty, we propose a motion planning method using Gaussian process regression as a mathematical model. Experimental results show that satisfactory robot motion can be achieved using limited data.
Vorheriger Artikel Decentralized simultaneous multi-target exploration using a connected network of multiple robots
Nächster Artikel Inferring and monitoring invariants in robotic systems

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Fußnoten
1
The accumulated cost becomes -1 for any control policy if \(\gamma =1\) under our assumption since the system reaches the goal with probability 1 after an infinite number of time steps. When the purpose is to obtain the optimal control policy that leads the system to reach the goal in the fewest time steps, the discount factor \(\gamma \) is usually set to less than 1.
 
2
This RMSE is calculated as \({\frac{1}{|\mathcal M^{p}|} \sum _{\tau =1}^{|\mathcal M^{p}|} \root \of {({\varvec{s}}^{p}(t)-{\varvec{s}}(t))^{\top }({\varvec{s}}^{p}(t)-{\varvec{s}}(t))}}\).
 
3
The control uncertainty is mentioned in (Berg et al. 2011), and it corresponds the uncertainty in the state transition model or inverse dynamics model.
 
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Metadaten
Titel
A confidence-based roadmap using Gaussian process regression
verfasst von
Yuya Okadome
Yutaka Nakamura
Hiroshi Ishiguro
Publikationsdatum
04.08.2016
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 4/2017
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-016-9604-y

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