@inproceedings{8e599c7fa7fa45fab1117096c040842c,
title = "Lunar rover's behavior fusion learning based on nonholonomic dynamics",
abstract = "The behavior-based motion planning with nonholonomic constrains for lunar rovers is discussed in this paper. For each fuzzy behavior controller, the hybrid coordinate scheme which combines competition with cooperation is proposed to ensure both the robustness and optimization. Force and torque of the wheels are chosen as the output of fuzzy behavior. The on-line Q-learning is used to obtain the behavior's coordinate scheme, ant its output is an optimal solution within a behavior decision set which is obtained according to the outputs from each behavior controller. Maggi equations are introduced to formulate the rover's transfer under the learnt controls. Experiment results demonstrate the effectiveness of this method and traceability of the trajectory.",
keywords = "Behavior fusion, Lunar rover, Motion planning, Nonholonomic dynamics, Q-learning",
author = "Haining Pan and Pingyuan Cui and Hehua Ju",
year = "2008",
doi = "10.1007/978-3-540-88513-9\_74",
language = "English",
isbn = "3540885129",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
number = "PART 1",
pages = "689--698",
booktitle = "Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings",
address = "Germany",
edition = "PART 1",
note = "1st International Conference on Intelligent Robotics and Applications, ICIRA 2008 ; Conference date: 15-10-2008 Through 17-10-2008",
}