To achieve both of improvement of tracking accuracy and search accuracy in tracking and searching of a monitoring object in an environment where unknown risk potentials are scattered.SOLUTION: Among state action value functions Ψ1 to Ψ5, to select an action for minimizing distribution is the optimal selection of a search action. Further, among the state action value functions Ψ1 to Ψ5, to select an action for maximizing average is the optimal selection of a tracking action. A deterministic function φ is used to narrow down actions to one. The φ(s, a) can be expressed by a standard deviation of the distribution of the average of the state action value functions Ψ+β×distribution of the state action value functions Ψ. A calculation result of each deterministic function φ is obtained by using a sum of values of the deterministic functions φ(1 to 5) at actions (a1 to a5) as a denominator and is used as a probability for determining an action.SELECTED DRAWING: Figure 5

    【課題】特に、未知のリスクポテンシャルが点在する環境下での監視対象の追従及び探索において、追従精度向上と探索精度向上を両立させる。【解決手段】各状態行動価値関数Ψ1〜Ψ5の内、分散を最小化する行動を選択するのが最適な探索行動の選択となる。また、各状態行動価値関数Ψ1〜Ψ5の内、平均値が最大となる行動を選択するのが最適な追従行動の選択となる。行動を1つに絞るために、確定関数φを用いる。φ(s、a)は、状態行動価値関数Ψの平均値+β×状態行動価値関数Ψの分散の標準偏差で表すことができる。各行動(a1〜a5)における確定関数φ(1〜5)で得た数値の合計を分母とした、それぞれの確定関数φの演算結果を求め、行動を決定する確率として利用する。【選択図】図5


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    Title :

    CONTROL DEVICE, MOVING BODY, AUTONOMOUS DISTRIBUTED CONTROL PROGRAM


    Additional title:

    制御装置、移動体、自律分散制御プログラム


    Contributors:

    Publication date :

    2019-09-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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