|Table of Contents|

Mobile Robot Path Planning Based on State Sensitivity

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
2012年01期
Page:
7-11
Research Field:
Publishing date:

Info

Title:
Mobile Robot Path Planning Based on State Sensitivity
Author(s):
ZHAO YunCHEN Qing-weiHU Wei-li
School of Automation,NUST,Nanjing 210094,China
Keywords:
mobile robots path planning reinforcement learning state sensitivity
PACS:
TP242
DOI:
-
Abstract:
Aiming at the mobile robot system in an unknown environment,the path planning problem to avoid both static and dynamic barriers and to reach a target quickly is investigated here.A new state sensitivity is defined to measure the relative degree between the state and the objective.It guides a robot to explore the environment with right direction and strength automatically.A reinforcement learning algorithm is adopted to learn the best action policy of a robot.By introducing state sensitivity,the speed and performance of learning algorithm are improved.Simulation results from a path planning task with an unknown environment and dynamic barriers verify the efficiency of the proposed algorithm.

References:

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Memo

Memo:
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Last Update: 2012-10-12