Using Reinforcement Learning to Achieve Two Wheeled Self Balancing Control

碩士 === 國立雲林科技大學 === 資訊工程系 === 104 === The non-linear, unstable system of the two-wheeled self-balancing robot has made it a popular research topic in the past decade. This paper presents an adaptive balance control method using reinforcement learning to give the robot the ability to adapt to environ...

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Main Authors:	CHANG,SHIH-YU, 張世煜
Other Authors:	CHANG,CHING-LUNG
Format:	Others
Language:	zh-TW
Published:	2016
Online Access:	http://ndltd.ncl.edu.tw/handle/41975132362114541357

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spelling	ndltd-TW-104YUNT03920172017-09-24T04:40:36Z http://ndltd.ncl.edu.tw/handle/41975132362114541357 Using Reinforcement Learning to Achieve Two Wheeled Self Balancing Control 增強式學習於兩輪自平衡控制研究 CHANG,SHIH-YU 張世煜碩士國立雲林科技大學資訊工程系 104 The non-linear, unstable system of the two-wheeled self-balancing robot has made it a popular research topic in the past decade. This paper presents an adaptive balance control method using reinforcement learning to give the robot the ability to adapt to environmental changes. The Q-Learning method in reinforcement learning was used, and an experimental model robot equipped with a set of angular velocity detection and inclination detection sensors was designed to verify this method. The experimental results demonstrate that this method can allow the two-wheeled robot to maintain good balance. CHANG,CHING-LUNG 張慶龍 2016 學位論文 ; thesis 62 zh-TW
collection	NDLTD
language	zh-TW
format	Others
sources	NDLTD
description	碩士 === 國立雲林科技大學 === 資訊工程系 === 104 === The non-linear, unstable system of the two-wheeled self-balancing robot has made it a popular research topic in the past decade. This paper presents an adaptive balance control method using reinforcement learning to give the robot the ability to adapt to environmental changes. The Q-Learning method in reinforcement learning was used, and an experimental model robot equipped with a set of angular velocity detection and inclination detection sensors was designed to verify this method. The experimental results demonstrate that this method can allow the two-wheeled robot to maintain good balance.
author2	CHANG,CHING-LUNG
author_facet	CHANG,CHING-LUNG CHANG,SHIH-YU 張世煜
author	CHANG,SHIH-YU 張世煜
spellingShingle	CHANG,SHIH-YU 張世煜 Using Reinforcement Learning to Achieve Two Wheeled Self Balancing Control
author_sort	CHANG,SHIH-YU
title	Using Reinforcement Learning to Achieve Two Wheeled Self Balancing Control
title_short	Using Reinforcement Learning to Achieve Two Wheeled Self Balancing Control
title_full	Using Reinforcement Learning to Achieve Two Wheeled Self Balancing Control
title_fullStr	Using Reinforcement Learning to Achieve Two Wheeled Self Balancing Control
title_full_unstemmed	Using Reinforcement Learning to Achieve Two Wheeled Self Balancing Control
title_sort	using reinforcement learning to achieve two wheeled self balancing control
publishDate	2016
url	http://ndltd.ncl.edu.tw/handle/41975132362114541357
work_keys_str_mv	AT changshihyu usingreinforcementlearningtoachievetwowheeledselfbalancingcontrol AT zhāngshìyù usingreinforcementlearningtoachievetwowheeledselfbalancingcontrol AT changshihyu zēngqiángshìxuéxíyúliǎnglúnzìpínghéngkòngzhìyánjiū AT zhāngshìyù zēngqiángshìxuéxíyúliǎnglúnzìpínghéngkòngzhìyánjiū
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Using Reinforcement Learning to Achieve Two Wheeled Self Balancing Control

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