基于模糊K均值聚類(lèi)和Sarsa(λ)算法的自適應爬壁機器人路徑規劃

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基于模糊K均值聚類(lèi)和Sarsa(λ)算法的自適應爬壁機器人路徑規劃
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作者單位:(河北工程大學(xué) 科信學(xué)院,河北 邯鄲 056038)
作者簡(jiǎn)介:李靜靜(1981-),女,河北邯鄲人,碩士,講師,主要從事電子技術(shù)和數據挖掘方向的研究。[FQ)]
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中圖分類(lèi)號:TP393
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Adaptive Path Planning of Wall-Climbing Robot Based on MIP and Improved Fuzzy K-Means Algorithm and Sarsa(λ)

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(College of Kexin , Hebei University of Engineering ,Handan 056038,China)

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摘要:

針對現有爬壁機器人規劃算法難以實(shí)現在線(xiàn)自適應高效規劃的問(wèn)題,設計了一種基于模糊K-Means算法和經(jīng)典Sarsa(λ)算法自適應爬壁機器人規劃算法；首先,對爬壁機器人的動(dòng)力學(xué)模型進(jìn)行了建模和分析,然后,對爬壁機器人規劃中的狀態(tài)進(jìn)行自適應聚集從而實(shí)現值函數的近似,設計了K值可變的改進(jìn)模糊K均值聚類(lèi)算法對狀態(tài)進(jìn)行自適應地在線(xiàn)聚類(lèi),將聚類(lèi)中心對應的值函數作為整個(gè)聚類(lèi)所有數據對象的值函數的近似值,最后,對基于模糊K均值聚類(lèi)算法和Sarsa(λ)算法的爬壁機器人在線(xiàn)規劃算法進(jìn)行了定義和描述,在MATLAB環(huán)境下對簡(jiǎn)單障礙物場(chǎng)景和復雜障礙物場(chǎng)景分別仿真實(shí)驗,實(shí)驗結果表明文中方法能有效地進(jìn)行路徑規劃,隨著(zhù)情節數的增加,規劃結果逐漸收斂到最優(yōu)值,同時(shí)在環(huán)境變化時(shí),收斂效果不受影響,具有較好的穩定性,是一種高效地實(shí)現爬壁機器人在線(xiàn)規劃的方法。

Abstract:

Aiming at the given wall-climbing robot path planning algorithm difficult to plan effectively online, an adaptive path planning algorithm based on K-Means algorithm and classic Sarsa(λ) algorithm are designed. Firstly, the dynamical model for wall-climbing robot is designed. Then the states of the planning space is clustered adaptively to realize the value function approximating, the improved fuzzy K-Means with the variable K is designed to cluster on-line, using value of the cluster center as the approximate value for all the sample of the whole cluster. Finally, the algorithm based on fuzzy K-Means and classic Sarsa(λ) algorithm for wall-climbing robot path planning is defined and described. The simulation experiment with simple barrier and complicate barrier is operated in the MATLAB, the result shows the method in this paper can realize the path planning, and with the increase of the episode, the planning result is converged to the optimal value, and also the convergence effect is not subject to the change of the environment, so it has strong feasibility. It is a on-line planning method for wall-climbing robot path planning.

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李靜靜.基于模糊K均值聚類(lèi)和Sarsa(λ)算法的自適應爬壁機器人路徑規劃計算機測量與控制[J].,2014,22(9):2879-2881,2885.

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收稿日期:2014-05-11
最后修改日期:2013-06-10
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在線(xiàn)發(fā)布日期: 2014-12-18
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