| 基于案例学习的排球机器人运动规划及其支持向量回归实现 |
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| 引用本文： | 张培艳,吕恬生,宋立博.基于案例学习的排球机器人运动规划及其支持向量回归实现[J].上海交通大学学报,2006,40(3):461-465. |
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| 作者姓名： | 张培艳 吕恬生 宋立博 |
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| 作者单位： | 上海交通大学,机械与动力工程学院,上海,200240 |
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| 摘 要： | 针对混合型控制问题,以排球任务为例研究机器人的运动规划.模拟人类球员通过经验积累而采取相应动作的行为学习模式,采取案例学习的方式解决球的初始状态微小变化(仅发球速度和角度变化)时的运动规划问题.由于支持向量回归(SVR)在处理小样本问题的优越性并受局部学习思想的启发,采用局部加权SVR(LW-SVR)实现案例学习.结果证明,LW-SVR的学习精度较RBF神经网络和SVR明显提高.
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| 关 键 词： | 案例学习 支持向量回归 运动规划 排球机器人 |
| 文章编号： | 1006-2467(2006)03-0461-05 |
| 收稿时间： | 2005-04-10 |
| 修稿时间： | 2005年4月10日 |
The Case-Based Learning of Motion Planning and Its SVR Implementation for Volleyball Robot |
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| ZHANG Pei-yan,L Tian-sheng,SONG Li-bo.The Case-Based Learning of Motion Planning and Its SVR Implementation for Volleyball Robot[J].Journal of Shanghai Jiaotong University,2006,40(3):461-465. |
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| Authors: | ZHANG Pei-yan L Tian-sheng SONG Li-bo |
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| Institution: | School of Mechanical Eng. , Shanghai Jiaotong Univ. , Shanghai 200240, China |
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| Abstract: | This paper takes volleyball task as an example to explore motion planning of hybrid control problem.Emulating the learning mode of human players to perform motion by experience,case-based learning method is applied to the motion planning where ball's initial state is partially changed(only velocity and angle is changed).Inspired by the advantage of local learning and support vector regression(SVR) dealing with finite data,locally weighted SVR(LW-SVR) is adopted to implement the case-based learning.The results show that the precise of LWSVR is distinctly improved relative to RBF network and SVR. |
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| Keywords: | case-based learning support vector regression(SVR) motion planning volleyball robot |
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