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Reinforcement based mobile robot navigation in dynamic environment
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DOI：10.1016/j.rcim.2010.06.019.png)
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摘要
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In this paper a new approach is developed for solving the problem of mobile robot path planning in an unknown dynamic environment based on Q-learning Q-learning algorithms have been used widely for solving real world problems especially in robotics since it has been proved to give reliable and efficient solutions due to its simple and well developed theory However most of the researchers who tried to use Q-learning for solving the mobile robot navigation problem dealt with static environments they avoided using it for dynamic environments because it is a more complex problem that has infinite number of states This great number of states makes the training for the intelligent agent very difficult In this paper the Q-learning algorithm was applied for solving the mobile robot navigation in dynamic environment problem by limiting the number of states based on a new definition for the states spice This has the effect of reducing the size of the Q-table and hence increasing the speed of the navigation algorithm The conducted experimental simulation scenarios indicate the strength of the new proposed approach for mobile robot navigation in dynamic environment The results show that the new approach has a high Hit rate and that the robot succeeded to reach its target in a collision free path in most cases which is the most desirable feature in any navigation algorithm (C) 2010 Elsevier Ltd All rights reserved
Keyword:
Robot navigation
Q learning
Unsupervised learning
Potential filed force
Path planning
Mobile target
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