한국지능시스템학회:학술대회논문집 (Proceedings of the Korean Institute of Intelligent Systems Conference)
- 한국퍼지및지능시스템학회 2005년도 춘계학술대회 학술발표 논문집 제15권 제1호
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- Pages.217-220
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- 2005
RPO 기반 강화학습 알고리즘을 이용한 로봇 제어
Robot Control via RPO-based Reinforcement Learning Algorithm
- Kim Jongho (Dept. of Control & Instrumentation Engineering, Korea University) ;
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Kang Daesung
(Dept. of Control & Instrumentation Engineering, Korea University) ;
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Park Jooyoung
(Dept. of Control & Instrumentation Engineering, Korea University)
- 발행 : 2005.04.01
초록
The RPO algorithm is a recently developed tool in the area of reinforcement Loaming, And it has been shown In be very successful in several application problems. In this paper, we consider a robot-control problem utilizing a modified RPO algorithm in which its critic network is adapted via RLS(Recursive Least Square) algorithm. We also developed a MATLAB-based animation program, by which the effectiveness of the training algorithms were observed.