쿼드로터 동역학 대칭을 이용한 고장 감내 제어 정책 학습 방법
- Title
- 쿼드로터 동역학 대칭을 이용한 고장 감내 제어 정책 학습 방법
- Authors
- 강지욱
- Date Issued
- 2023
- Publisher
- 포항공과대학교
- Abstract
- Drones are widely used in many domains in recent decades due to their agility,
versatility, and ease of control. However, because of nonlinear dynamics, their control
strategy is complicated. Especially when the drone has lost the sensor signals or action
inputs, it can suffer from bad control, which can lead to crash at the worst cases. To
address this issue, reinforcement learning (RL) agent have been widely researched
to work as a controller. RL can effectively learn how to control the quadrotor even
with motor failure using a lot of data. For the possibility of fault of any motors, I
propose to use the symmetry of the dynamics of quadrotors. Using the configuration
and symmetry of quadrotors, the data interacted for the fault of one specific motor can
be augmented to the different motors. This approach showed faster convergence and
final performance. This can be used for sample-efficient learning and safe learning of
the quadrotors in real environment.
- URI
- http://postech.dcollection.net/common/orgView/200000690801
https://oasis.postech.ac.kr/handle/2014.oak/118396
- Article Type
- Thesis
- Files in This Item:
- There are no files associated with this item.
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