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http://dx.doi.org/10.21289/KSIC.2016.19.4.167

Adaptability Improvement of Learning from Demonstration with Particle Swarm Optimization for Motion Planning  

Kim, Jeong-Jung (KIST)
Lee, Ju-Jang (KAIST)
Publication Information
Journal of the Korean Society of Industry Convergence / v.19, no.4, 2016 , pp. 167-175 More about this Journal
Abstract
We present a method for improving adaptability of Learning from Demonstration (LfD) strategy by combining the LfD and Particle Swarm Optimization (PSO). A trajectory generated from an LfD is modified with PSO by minimizing a fitness function that considers constraints. Finally, the final trajectory is suitable for a task and adapted for constraints. The effectiveness of the method is shown with a target reaching task with a manipulator in three-dimensional space.
Keywords
Motion planning; Particle swarm optimization; Learning; Manipulator;
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