Predição de dados estruturados utilizando a formulação Perceptron com aplicação em planejamento de caminhos

Abstract

The problem of path planning has several sub-areas, many of which are widely discussed in the literature. One of these areas in particular is the determination of paths, the algorithms used to solve this problem depend on the reliability of the estimated costs in the environments and maps. The difficulty is precisely the definition of costs for each type of area or land on the maps to be examined. As you can see, the problem mentioned includes the difficulty in determining what the cost of each relevant characteristic on the map, and the costs of their possible combinations. The purpose of this study is to show how the prediction of these costs is made into new environments based on the prediction of structured data by defining functional learning areas between input and output, structured and arbitrary. The problem of learning in question is usually formulated as a convex optimization problem of maximum margin very similar to the formulation of multiclass support vector machines. A solution technic was performed through implementation of the algorithm MMP (Maximum Margin Planning) (RATLIFF; BAGNELL; ZINKEVICH, 2006). As a contribution, two alternative algorithms were developed and implemented, the first named Structured Perceptron, and the second Structured Perceptron with Margin both methods of relaxation based formulation of the Perceptron. They were analyzed and compared. Posteriorly we have the exploitation of the environment by an intelligent agent using reinforcement learning techniques. This makes the whole process, from the environment analysis and discovery of cost to the exploitation and path planning, a complete learning process.