Online gain setting method for path tracking using CMA-ES: Application to off-road mobile robot control
Ashley Hill,Jean Laneurit,Roland Lenain,Eric Lucet,Ashley Hill,Jean Laneurit,Roland Lenain,Eric Lucet
This paper proposes a new approach for online control law gains adaptation, through the use of neural networks and the Covariance Matrix Adaptation Evolution Strategy (CMA-ES) algorithm, in order to optimize the behavior of the robot with respect to an objective function. The neural network considered takes as input the current observed state as well as its uncertainty, and provides as output the ...
