基于改進(jìn)行為克隆算法的機(jī)器人運動控制策略

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中圖分類號：TP242.6 文獻(xiàn)標(biāo)志碼：A 文章編號：1001-3695（2025）06-009-1668-08

doi：10.19734/j.issn.1001-3695.2024.11.0474

Robot motion control strategy based on improved behavior cloning algorithm

Huang Xiaoxia， Yang Bo? ，Xiang Xin，Chen Ling，Chen Zhongxiang，Sun Shunyao， Xiao Hongfeng （College of Engineering& Design，Hunan Normal University，Changsha 41oo81，China）

Abstract：This paper addressed the challenges of complex motion control strategy training，ineffcientand imprecisepath planing executioninrobotsperformingfineoperationssuchasdual-armcooperativeinsertiontasks.Itproposedanimproved robotbehavior cloning algorithmbasedonmulti-scale feature pyramidsandatention mechanisms.Thealgorithmcombinedresidual networksandfeaturepyramidstodesignthebackbone network，extractingandfusingmulti-scaleimagefeatures，which enhancedtherobot’senvironmentalperceptionand visualfeedback capabilities.Itintroducedanactionsegmentation module to improvetheauracyandsmoohnessofcontrol strategies，reducingcompounderrors inbehaviorcloning.Additionally，the algorithmtrainedthecontrol strategyasaconditional varitionalautoencoder（CVAE）using theatentionmechanism to learn thedistributionofdemonstrationdataandcapturethecorelationbetween image features andactions.This appoachimproved thegeneralizationabilityandadaptabilityofthestrategyinunfamiliarenvironments.Simulationresultsshowthattheproposed algorithmoutperformsfivebaselinemodels intermsofsuccessrateandtrajectorysmoothnessintwofineoperationtasks.These results demonstrate thatthe algorithm can execute precise robot fine operation tasks through simple training.

Key words：precision operation of robot；motion control strategy；behavioral cloning；action sequence

0 引言

隨著機(jī)器人技術(shù)的不斷進(jìn)步，雙臂機(jī)器人在工業(yè)、醫(yī)療、家庭等多個領(lǐng)域的應(yīng)用日益廣泛。（剩余19534字）