INVESTIGADORES
CAPRARO FUENTES Flavio Andres
congresos y reuniones científicas
Título:
Adaptive critic designs-based autonomous unmanned vehicles navigation: Application to robotic farm vehicles
Autor/es:
PATIÑO DANIEL; TOSETTI SANTIAGO; CAPRARO FLAVIO
Lugar:
Nashville
Reunión:
Congreso; IEEE International Symposium on Adaptive Dynamic Programming and Reinforcement Learning; 2009
Institución organizadora:
IEEE
Resumen:
This paper addresses the problem of generating autonomously an optimal
control action sequence for robotic autonomous unmanned vehicles based
on adaptive critic designs (ACDs) for their use in autonomous
agriculture vehicles, in the context of precision agriculture. The main
objective is to design autonomously an optimal controller that steers
the center of the vehicle through a number of waypoints in a particular
order using a minimum amount of time and energy consumption. The last
aspect is very important for the endurance performance in autonomous
unmanned vehicles. In general, the steering of unmanned robotic vehicles
depends on the interactions between the vehicle and its supporting
medium. Planning for the future encounters with the waypoints should be
part of the current control decision, since the vehicles position and
orientation as it moves through one gate greatly alter the case of
navigation through successive points. The proposed ACD-based intelligent
controller learns to guide the vehicle through a set of points
autonomously. The simulation results show the performance of the
proposed approach for a simple case of mobile robotics.