Blind guiding robot of optimal output feedback controller and based on reinforcement learning

Abstract

The invention relates to a blind guiding robot of an optimal output feedback controller and based on reinforcement learning, and belongs to the technical field of robots. By adopting a realsense D435idepth camera as a visual sensor, real-time environment information of the blind guiding robot in the advancing guiding process can be accurately and efficiently obtained. In order to solve the problem that a blind guiding robot faces many unstable factors in the moving process, a model-free synchronous integral reinforcement learning controller based on an ADP method is designed, an HJB equationof a constructed cost function is established by constructing the cost function of a blind guiding robot system based on reinforcement learning, the HJB equation is solved through a method based on synchronous reinforcement learning, and finally an optimal solution is obtained through an iterative method, so that the optimal control of the blind guiding robot system is achieved.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a blind-guiding robot based on an optimal output feedback controller of reinforcement learning. Background technique [0002] At present, there are not many types of blind-guiding machines, and the main types are (1) blind-guiding cane: the most common thing for the visually impaired is to hold a white cane, but the cane is simple in structure and not intelligent. (2) Wearable blind guide aids: can be divided into guided and panoramic types; guided type is mainly for obstacle avoidance, while panoramic type adds ultrasonic waves to the functional requirements of obstacle avoidance, Attempts to compose a picture of the surrounding environment of the visually impaired. (3) Mobile blind-guiding robot: its main principle is based on the mobile robot, adding infrared sensing and ultrasonic modules to detect surrounding obstacles. Among the above three types of blind-guiding machines, t...

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Problems solved by technology

[0005] However, considering that many unknown changes will occur during the guiding process of the blind guide robot (generally in the actual device, there are generally amplitude constraints, that is, constraint input or execution controller saturation), so the constraint control input must be considered in the controller design process, and the system state of the blind-guiding robot is unmeasurable in actual situations, so an optimal output feedback controller based on reinforcement learning is designed in this invention

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