Preliminary results from a real time control system using optical information

G. Martinez, V. M. Becerra

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    Successful results from training an adaptive controller to use optical information to balance an inverted pendulum are presented in comparison to the training requirements using traditional controller inputs. Results from research into the psychology of the sense of balance in humans are presented as the motivation for the investigation of this new type of controller. The simulated model of the inverted pendulum and the virtual reality environments used to provide the optical input are described The successful introduction of optical information is found to require the preservation of at least two of the traditional input types and entail increased training time for the adaptive controller and reduced performance (measured as the time the pendulum remains upright).
    Original languageEnglish
    Title of host publication2004 IEEE International Conference on Systems, Man and Cybernetics
    Place of PublicationPiscataway
    PublisherIEEE
    Pages5923-5928
    Volume6
    ISBN (Print)0780385667
    DOIs
    Publication statusPublished - 2004

    Keywords

    • artificial neural network, reinforcement learning, real time, controller, first order optic flow algorithms, affine parameters

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