Abstraction and Implementation of Human Skill by Hybrid Dynamical System Theory--Application to an Automatic Driving System (特集:電気関係学会東海支部連合大会) Abstraction and Implementation of Human Skill by Hybrid Dynamical System Theory : Application to an Automatic Driving System

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In this paper, we propose a method to abstract human manipulation skill, which can be useful in systems of machine intelligence and human operator assistance. It is, however, not easy to model human operation by traditional methods due to the lack of good physical models for human skill, In our approach, human manipulation skill is considered as a hybrid dynamical system (HDS). Specifically, a hinging hyperplane autoregressive exogenous (HHARX) model is employed as it is able to deal with manipulation modes and switches among them simultaneously. Such an HHARX model can be obtained by system identification via mixed-integer linear programming (MILP). As a typical example, we apply our approach to an automatic driving system of a small radio-controlled vehicle. Both simulation and experimental results illustrate the effectiveness of the proposed method.

収録刊行物

  • 電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society  

    電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society 126(12), 1524-1530, 2006-12-01 

    The Institute of Electrical Engineers of Japan

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各種コード

  • NII論文ID(NAID)
    10018403045
  • NII書誌ID(NCID)
    AN10065950
  • 本文言語コード
    ENG
  • 資料種別
    ART
  • ISSN
    03854221
  • NDL 記事登録ID
    8593406
  • NDL 雑誌分類
    ZN31(科学技術--電気工学・電気機械工業)
  • NDL 請求記号
    Z16-795
  • データ提供元
    CJP書誌  NDL  J-STAGE 
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