论文信息 - Control of a robot in a partially unknown environment

Control of a robot in a partially unknown environment

This paper discusses the problem of controlling the motion of a robot in a partially unknown environment. The problem can be formulated as a stochastic control problem with some state variables related to the physical dynamics of the robot and others related to the information the robot has obtained about the environment. First, a dynamic programming procedure that calculates the optimum policy for the robot is described. Next, a heuristic method that is capable of solving much larger problems is presented. The performance of the heuristic is shown to compare favorably with that of humans in complex examples.

R. E. Larson | W. G. Keckler | R. Larson | W. Keckler

[1] D. Joseph,et al. On linear control theory , 1961, Transactions of the American Institute of Electrical Engineers, Part II: Applications and Industry.

[2] Raphael Sussman. OPTIMAL CONTROL OF SYSTEMS WITH STOCHASTIC DISTURBANCES , 1963 .

[3] Ronald A. Howard,et al. Information Value Theory , 1966, IEEE Trans. Syst. Sci. Cybern..

[4] Robert E. Larson,et al. State increment dynamic programming , 1968 .

[5] D. Luenberger,et al. Performance-adaptive renewal policies for linear systems , 1969 .

[6] Gene F. Franklin,et al. A General Solution for Linear, Sampled-Data Control , 1963 .

[7] H. J. Kushner. Some problems and some recent results in stochastic control. , 1965 .

[8] W. Wonham. Stochastic problems in optimal control , 1963 .