A Universal trajectory Tracking controller for Mobile robots via Model-Free Online Reinforcement Learning.
Farbod FahimiSusheel PraneethPublished in: Control. Intell. Syst. (2015)
Keyphrases
- model free
- trajectory tracking
- visual servoing
- reinforcement learning
- mobile robot
- closed loop
- reinforcement learning algorithms
- impedance control
- iterative learning control
- function approximation
- control system
- control law
- bi directional
- dynamic model
- temporal difference
- physical constraints
- sliding mode
- control method
- policy iteration
- iterative learning
- real time
- path planning
- optimal control
- motion planning
- control strategy
- state space
- adaptive control
- average reward
- dynamic environments
- policy evaluation
- autonomous robots
- supervised learning
- robot control
- control scheme
- multi robot
- rl algorithms
- pid controller
- robot manipulators
- nonlinear systems
- markov decision processes
- dynamic programming
- learning process
- learning algorithm
- machine learning