Page 98 - Rapid Learning in Robotics
P. 98

84                                       Extensions to the Standard PSOM Algorithm




                                      1
                                     0.5
                                                                   1
                          -1    -0.5        0.5    1
                                                                  0.5
                                                                                   s
                                     -0.5                   -1  -0.5  0.5  1        2
                                                                  -0.5
                                      -1                          -1
                                                                                        s 1
                          Figure 6.5: (left:) The Chebyshev polynomial T    (Eq. 6.2). Note the increased
                          density of zeros towards the approximation interval bounds .
                          (center:) T   below a half circle, which is cut into five equal pieces. The base pro-
                          jection of each arc mid point falls at a zero of T   (Eq. 6.3.)
                          (right:) Placement of 5 10 nodes A 	 S, placed according to the zeros a j of the
                          Chebyshev polynomial T   and T    .






                          with a smaller number of nodes, leading to the use of lower-degree poly-
                          nomials together with a reduced computational effort.
                             In Sec. 6.5.1 and Sec. 8.1 the Chebyshev spacing is used for pre-specifying
                          the location of the nodes a   A as compared to an equidistant, rectangular
                          node-spacing in the m-dimensional parameter space (e.g. Fig. 4.10).

                             A further improvement is studied in Sect. 8.2. Additionally to the im-
                          provement of the internal polynomial manifold construction, the Cheby-
                          shev spacing is also successfully employed for sampling of the training
                          vectors in the embedding space X. Then, the n   (constant) zeros of T n in

                          [-1,1] are scaled to the desired working interval and accordingly the sam-
                          ples are drawn.








                          6.5 Comparison Examples: The Gaussian Bell



                          In this section the Gaussian bell curve serves again as test function. Here
                          we want to compare the mapping characteristics between the PSOM ver-
                          sus the Local-Linear-Map (LLM) approach, introduced in chapter 3.
   93   94   95   96   97   98   99   100   101   102   103