弹道
计算机科学
模糊逻辑
集合(抽象数据类型)
吸引子
控制理论(社会学)
方案(数学)
移动机器人
非线性系统
职位(财务)
运动(音乐)
模糊集
控制工程
人工智能
机器人
数学
工程类
控制(管理)
程序设计语言
物理
经济
哲学
数学分析
美学
量子力学
财务
天文
作者
Fan Jiang,Huai‐Ning Wu
标识
DOI:10.23919/ccc52363.2021.9550302
摘要
Dynamic Movement Primitives (DMPs), which represent movement plans based on a set of nonlinear differential equations with well-defined attractor dynamics, have been adapted for movement planning. In this paper, we present a trajectory generation method for mobile agent from multiple demonstration using DMPs. The original DMPs can be only used to learn from single demonstration. In order to adapt multiple demonstrations of different tasks, we use DMPs with Takagi-Sugeno fuzzy model to realize autonomous trajectory planning. The proposed scheme is capable to regenerate trajectory in the presence of obstacles even when the goal position is altered. A simulation example is given to confirm the effectiveness of the proposed scheme.
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