Purpose

This study aims to propose an offline exploratory method that consists of two stages: first, the authors focus on completing the kinematics model of the system by analyzing the Jacobians in the vicinity of the starting point and deducing a virtual input to effectively navigate the system along the non-holonomic constraint. Second, the authors explore the sensorimotor space in a predetermined pattern and obtain an approximate mapping from sensor space to chained form that facilitates controllability.

Design/methodology/approach

In this paper, the authors tackle the controller acquisition problem of unknown sensorimotor model in non-holonomic driftless systems. This feature is interesting to simplify and speed up the process of setting up industrial mobile robots with feedback controllers.

Findings

The authors validate the approach for the test case of the unicycle by controlling the system with time-state control policy. The authors present simulated and experimental results that show the effectiveness of the proposed method, and a comparison with the proximal policy optimization algorithm.

Originality/value

This research indicates clearly that feedback control of non-holonomic systems with uncertain kinematics and unknown sensor configuration is possible.

中文翻译：

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未知非完整无漂移系统从传感器空间映射到链式形式的监督学习

目的

本研究旨在提出一种包含两个阶段的离线探索方法：首先，作者专注于通过分析起点附近的雅可比行列式并推导出虚拟输入以有效地沿着系统导航来完成系统的运动学模型。非完整约束。其次，作者以预定模式探索感觉运动空间，并获得从传感器空间到促进可控性的链式形式的近似映射。

设计/方法/方法

在本文中，作者解决了非完整无漂移系统中未知感觉运动模型的控制器获取问题。此功能很有趣，可以简化和加快设置带有反馈控制器的工业移动机器人的过程。

发现

作者通过使用时间状态控制策略控制系统来验证独轮车测试用例的方法。作者展示了模拟和实验结果，显示了所提出方法的有效性，并与近端策略优化算法进行了比较。

原创性/价值

这项研究清楚地表明，具有不确定运动学和未知传感器配置的非完整系统的反馈控制是可能的。