arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 1806.00526cs.NEcs.RO
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基于循环神经网络的动态系统多步预测

Multi-Step Prediction of Dynamic Systems with Recurrent Neural Networks

Nima Mohajerin, Steven L. Waslander

摘要:

循环神经网络(RNN)可以编码丰富的动态,这使得它们适合于建模动态系统。为了训练用于动态系统的多步预测的RNN,有效地解决状态初始化问题是至关重要的,该问题在每个预测间隔的开始处为RNN初始状态寻找合适的值。在这项工作中,使用神经网络(NN)有效地训练各种RNN建模两个飞行器,直升机和四旋翼,从实验数据的状态初始化问题。结果表明,由基于神经网络的初始化方法初始化的RNN优于现有技术。此外,全面研究的RNN训练的两个飞行器的多步预测。使用混合模型增强四旋翼的多步预测,该混合模型将车辆的简化的基于物理的运动模型与RNN相结合。虽然四旋翼数据集中的最大平移速度和旋转速度分别约为4 m/s和3.8 rad/s,但混合模型在1.9秒内产生预测,其保持在测量的平移速度和旋转速度的9 cm/s和0.12 rad/s内,在测试数据集上具有99%的置信度

英文摘要:

Recurrent Neural Networks (RNNs) can encode rich dynamics which makes them suitable for modeling dynamic systems. To train an RNN for multi-step prediction of dynamic systems, it is crucial to efficiently address the state initialization problem, which seeks proper values for the RNN initial states at the beginning of each prediction interval. In this work, the state initialization problem is addressed using Neural Networks (NNs) to effectively train a variety of RNNs for modeling two aerial vehicles, a helicopter and a quadrotor, from experimental data. It is shown that the RNN initialized by the NN-based initialization method outperforms the state of the art. Further, a comprehensive study of RNNs trained for multi-step prediction of the two aerial vehicles is presented. The multi-step prediction of the quadrotor is enhanced using a hybrid model which combines a simplified physics-based motion model of the vehicle with RNNs. While the maximum translational and rotational velocities in the quadrotor dataset are about 4 m/s and 3.8 rad/s, respectively, the hybrid model produces predictions, over 1.9 second, which remain within 9 cm/s and 0.12 rad/s of the measured translational and rotational velocities, with 99\% confidence on the test dataset

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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