Glazkova L. V., Panchenko A. V., Pavlovsky V. E.
Dynamics, simulation and control of a wheeled robotic glider
2012, Vol. 8, No. 4, pp. 679-687
We consider the optimal control of a wheeled glider. Equations of motion for the glider have been written out in a compact form, the problem of bringing the glider into a given point within a minimal time has been solved for several typical initial positions of the glider. The realization of the control system of the glider model is discussed.
Koshmanova N. P., Pavlovsky V. E., Trifonov D. S.
Reinforcement learning for manipulator control
2012, Vol. 8, No. 4, pp. 689-704
We present method for constructing manipulator control system with reinforcement learning algorithm. We construct learning algorithm which uses information about performed actions and their quality with respect to desired behaviour called «reward». The goal of the learning algorithm is to construct control system maximizing total reward. Learning algorithm and constructed control system were tested on the manipulator collision avoidance problem.