LearningAsymmetryEffectfortheNeuronNetControlSystems.docVIP

Learning Asymmetry Effect for the Neuron Net Control Systems Astapkovitch A.M. Head of Student Design Center, State University of Aerospace Instrumentation 190000 Bolshaij Morskaij, 67,Saint-Petersburg,Russia {skb@aanet.ru} http://www.guap.ru Abstract. The benchmark model of the differential drive mobile robot SOFA-2009 with the neuron net control system is described. Results of the supervised learning for different cases were compared for “moving to prescribed point of 2D surface” robot behavior under the control of two channel neuron net system. It was shown that the learning asymmetry effect exist for this type of behavior. Effect results in the asymmetry of the weight values of the symmetry control channels. It was shown, that to avoid this effect the symmetrical learning set has to be used. One step learning procedure on base of Lagrange multipliers method is proposed, that provide possibility to take into account the existence of the linear relations for weights and avoid asymmetry effects also. Key words: two wheel robot, benchmark model SOFA-2009, supervised learning, learning asymmetry effect, modified one step learning procedure, Lagrange multipliers method, computational robotics Introduction Computational Robotics methodology is supposed that the virtual robot models and the virtual environment models are used for research purposes. SOFA-2009 is as simple as possible benchmark model of the two wheels differential drive mobile robot developed to support the student research project Phoenix-3 [1],[2]. The model reflects the most important features of the two wheels robot and consists from seven ordinary differential equations and includes description of the robot cinematic, dynamic, gears and motors. For numerical experiments, described in this article, SOFA-2009 model was added with simplified neuron net control system. “Movement to prescribed point with slowing down” behavior was investigated. The one step supervise