The Proposal for Compensation to the Action of Motion Control based on the Prediction of State-action Pair

摘要

For a robot that works in a dynamic environment, the ability to autonomously cope with the changes in the environment, is important. In this paper, an approach to predict the changes of the state and action of the robot is proposed. Further, to extend this approach, the action to be taken in the future will be attempted to apply, to the current action. This method predicts the robot state and action for the distant future using the state that the robot adopts repeatedly. Using this method, the actions that the robot will take in the future can be predicted. In this paper, a method that predicts the state and the action each time the robot decides to perform an action will be proposed. In particular, in this paper, how to define the weight coefficients will be focused on, using the characteristics of the future prediction results. Using this method, the compensatory current action will be obtained. This paper presents the results of our study and discusses methods that allow the robot to decide its desirable behavior quickly, using state prediction and optimal control methods.