| Presentation | 2002/3/11 Motion Control of a Mobile Robot by Reinforcement Learning Yoshimasa YAMASAKI, Masumi ISHIKAWA, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | A navigation task for a mobile robot includes path planning to the goal while avoiding obstacles. The present paper aims at training a mobile robot through interation with the envirionment: movement of a mobile robot and reward from the envirionment as a result of movement. This interaction fits well with reinforcement learning. Among various reinforcement learning algorithms Q-learning is adopted here because motion control as well as current position play an important role. A computer simulation demonstrates that Q-learning succeeds in obtaining optimal path to the goal without collision. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | reinforcement learning / mobile robots / Q-learning / optimal path |
| Paper # | NC2001-143 |
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| Committee | NC |
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| Conference Date | 2002/3/11(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Neurocomputing (NC) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Motion Control of a Mobile Robot by Reinforcement Learning |
| Sub Title (in English) | |
| Keyword(1) | reinforcement learning |
| Keyword(2) | mobile robots |
| Keyword(3) | Q-learning |
| Keyword(4) | optimal path |
| 1st Author's Name | Yoshimasa YAMASAKI |
| 1st Author's Affiliation | Graduate School of Computer Science and Systems Engineerring Kyushu Institute of Technology() |
| 2nd Author's Name | Masumi ISHIKAWA |
| 2nd Author's Affiliation | Graduate School of Life Science and Systems Engineerring Kyushu Institute of Technology |
| Date | 2002/3/11 |
| Paper # | NC2001-143 |
| Volume (vol) | vol.101 |
| Number (no) | 735 |
| Page | pp.pp.- |
| #Pages | 8 |
| Date of Issue | |