Automatic regrouping of trajectories based on classification and regression tree Online publication date: Tue, 13-Apr-2021
by Ying Zhang; Chenguang Yang
International Journal of Modelling, Identification and Control (IJMIC), Vol. 35, No. 3, 2020
Abstract: Decomposing complex tasks into simple sub-trajectories can greatly reduce the difficulty of modelling and generalisation. Using dynamic movement primitive (DMP) to generalise these sub-trajectories and combining the generalised sub-trajectories in a different order can generalise the original task to a new task, which greatly improves the generalisation ability of DMP. In previous work, we manually determined the recombination order of trajectories, but this method was inefficient and time-consuming. Here, we automate the procedure with the decision tree approach. First, we use some known decision results as prior information to generate decision trees. Then, we input the starting and ending coordinates of each sub-trajectory of the new task into the decision tree. The decision tree will make decisions based on the coordinate information and choose which kind of trajectory to generalise to realise the new task. Simulation results are used to verify the effectiveness of the proposed method.
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