计算机科学 ›› 2020, Vol. 47 ›› Issue (6A): 79-83.doi: 10.11896/JsJkx.191000158
方梦琳1, 唐文兵1, 黄鸿云2, 丁佐华1
FANG Meng-lin1, TANG Wen-bing1, HUANG Hong-yun2 and DING Zuo-hua1
摘要: 由于机器人导航任务对实时性要求高,以及机器人自身的非线性导致很难精确建模,而基于规则的控制可解释性好,可以实时响应。因此,文中提出了一种基于模糊信息分解(Fuzzy-based Information Decomposition,FID)与控制规则的机器人沿墙导航方法。在UCI机器人导航数据集上,首先用FID对原始类别不平衡数据集进行过采样,之后训练支持向量机(SVM),然后从SVM中提取控制规则。在提取规则过程中,仅使用支持向量以减少规则数量和提高实时性,使用这些支持向量训练随机森林,然后从中提取控制规则。实验结果表明,在相同数据集上,相较于决策树等6个经典模型,所提方法的平均F1值为0.994,对小类样本的召回率平均提升8.09%。与其他提取规则的模型相比,从SVM中提取规则的方法能平均减少171.33条规则,在测试样本上的平均单个样本决策时间仅为3.145μs。
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