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Ataka, Ahmad. Mecanum-wheeled robot control based on deep reinforcement learning. (). King Mongkut's University of Technology North Bangkok. Central Library. : , 2023.
Mecanum-wheeled robot control based on deep reinforcement learning
Name: Setiadilaga, Ocklen
Organization :
Universitas Gadjah Mada. Dept. of Electrical and Information Engineering
Email :
ocklen15@mail.ugm.ac.id
Name: Cahyadi, Adha
Organization :
Universitas Gadjah Mada. Dept. of Electrical and Information Engineering
Email :
adha.imam@ugm.ac.id
Name: Ataka, Ahmad
Organization :
Universitas Gadjah Mada. Dept. of Electrical and Information Engineering
Email :
ahmad.ataka.ar@ugm.ac.id
keyword:
Mecanum-wheeled Robot
LCSH:
Reinforcement learning
LCSH:
Robots
-- Control systems
Abstract:
The use of mecanum wheels for mobile robots has led
to more flexibility in terms of the robots navigation ability. This
usage, however, leads to a more complex control system which
mainly relies on a complete knowledge of the robots kinematic
model. This research aims to show that reinforcement learning
can help develop control systems for robots with mecanum wheels.
Since reinforcement learning does not require the robots model
explicitly to generate the control action, it can deal with the
uncertainty and nonlinearity of the robot model by learning the
action directly from interaction with the environment. In the
paper, we proposed a novel reward function specifically designed
for mecanum-wheeled robot control. The reward function is used
to train the reinforcement learning algorithm to produce control
signal for mecanum-wheeled robot. The results demonstrate the
promising capability of reinforcement learning in controlling
mecanum-wheeled robot towards a target location while maintaining
its orientation
King Mongkut's University of Technology North Bangkok. Central Library
Address:
BANGKOK
Email:
library@kmutnb.ac.th
Created:
2023
Modified:
2024-12-20
Issued:
2024-12-19
บทความ/Article
application/pdf
BibliograpyCitation :
In IEEE Computational Intelligence Society Thailand Chapter, King Mongkut's Institute of Technology Ladkrabang. School of Information Technology and Universitas Gadjah Mada. Department of Electrical Engineering and Information Technology. The 15th International Conference on Information Technology and Electrical Engineering (ICITEE 2023) (pp.49-54). Nonthaburi : IEEE Computational Intelligence Society Thailand Chapter, 2023
eng
©copyrights King Mongkut's University of Technology North Bangkok
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0.036919 วินาที
Setiadilaga, Ocklen
| Title | Contributor | Type |
|---|---|---|
| Mecanum-wheeled robot control based on deep reinforcement learning
มหาวิทยาลัยเทคโนโลยีพระจอมเกล้าพระนครเหนือ Setiadilaga, Ocklen;Cahyadi, Adha;Ataka, Ahmad | บทความ/Article |
Cahyadi, Adha
| Title | Contributor | Type |
|---|---|---|
| Mecanum-wheeled robot control based on deep reinforcement learning
มหาวิทยาลัยเทคโนโลยีพระจอมเกล้าพระนครเหนือ Setiadilaga, Ocklen;Cahyadi, Adha;Ataka, Ahmad | บทความ/Article | |
| Droop control strategy of controlled three-phase PWM rectifier for hybrid train propulsion
มหาวิทยาลัยเทคโนโลยีพระจอมเกล้าพระนครเหนือ Wijaya, Fransisco Danang;Sidik, Yohan Fajar;Irnawan, Roni;Cahyadi, Adha Imam;Frasetyo, Mohd. Brado | บทความ/Article |
Ataka, Ahmad
| Title | Contributor | Type |
|---|---|---|
| Autonomous pick-and-place using excavator based on deep reinforcement learning
มหาวิทยาลัยเทคโนโลยีพระจอมเกล้าพระนครเหนือ Ishmatuka, Cendikia;Soesanti, Indah;Ataka, Ahmad | บทความ/Article | |
| Vision-based excavator control for pick-and-place operation
มหาวิทยาลัยเทคโนโลยีพระจอมเกล้าพระนครเหนือ Ataka, Ahmad;Bayu Aji, M. Hilal;Hakim, Alfin Luqmanul;Arfiantino, Dimas;Nanda, Aan Aria;Nugraha, Ghanis Kauchya;Setyadi, Ahmad Didik;Aji, Alharisy;Ageng, Gregorio;Candra, Rizky;Ishmatuka, Cendikia;Barr, Abdul | บทความ/Article | |
| Mecanum-wheeled robot control based on deep reinforcement learning
มหาวิทยาลัยเทคโนโลยีพระจอมเกล้าพระนครเหนือ Setiadilaga, Ocklen;Cahyadi, Adha;Ataka, Ahmad | บทความ/Article |