机器人2024，Vol.46Issue(4)：397-413,424,18.DOI:10.13973/j.cnki.robot.230148
基于行为的多差速机器人强化学习任务监管器设计
Reinforcement Learning Mission Supervisor Design for Behavior-based Differential Drive Robots
摘要
Abstract
A multi-agent reinforcement learning mission supervisor(MARLMS)is designed for differential drive robots using trial-and-error learning.The proposed MARLMS addresses the challenge inherent in behavior-based multi-agent sys-tems,wherein the design of switching rules to determine behavior priorities relies heavily on human intelligence.Building upon the null-space-based behavioral control(NSBC)framework,a differential model is introduced to replace the particle model.Consequently,a paradigm of NSBC with nonholonomic constraints is presented for the first time,enhancing the system robustness to the minimum extremum state.Subsequently,a joint policy is developed to dynamically and intelligent-ly determine behavior priorities by modeling the behavior priority switching problem as a cooperative Markov game.The proposed MARLMS not only eliminates the need for manual design of switching rules but also reduces the computational and storage burdens during online operations.Simulation results demonstrate the superior behavior priority switching perfor-mance of the proposed MARLMS.Furthermore,successful implementation on AgileX Limo robots validates the practicality of the proposed MARLMS.关键词
差速机器人/行为控制/强化学习/任务监管器/智能决策Key words
differential drive robot/behavioral control/reinforcement learning/mission supervisor/intelligent decision引用本文复制引用
张祯毅,黄捷..基于行为的多差速机器人强化学习任务监管器设计[J].机器人,2024,46(4):397-413,424,18.基金项目
国家自然科学基金(92367109). （92367109）
