完整移动机器人导航的简化q学习

2011 2nd International Conference on Instrumentation, Communications, Information Technology, and Biomedical Engineering Pub Date : 2011-12-22 DOI:10.1109/ICICI-BME.2011.6108595

W. Adiprawita, A. S. Ahmad, Jaka Sembiring, B. R. Trilaksono

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引用次数: 2

摘要

本文提出了一种将值函数作为完整移动机器人导航中POMDP问题的一种特殊情况的求解方法。通过使用这种新方法，可以降低值函数的复杂度，并且更加直观。这个新的值函数的结果在Matlab中通过粒子滤波仿真进行了验证，并且还使用一个简单的自主移动机器人进行了物理实验，该机器人使用Lego Mindstorms NXT(带有3个超声波声纳)和RWTH Mindstorms NXT Toolbox for Matlab构建，将机器人连接到Matlab中。该模拟和实验还结合了前人研究的粒子滤波定位。仿真和实验结果表明，该值函数可以很好地发挥作用。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Simplified Q-learning for holonomic mobile robot navigation

In this paper we propose a method of presenting a special case of Value Function as a solution to POMDP in holonomic mobile robot navigation. By using this new method the Value Function complexity will be reduced and more intuitive. The result of this new Value Function is validated with particle filter simulation in Matlab and also experimented physically using a simple autonomous mobile robot built with Lego Mindstorms NXT with 3 ultrasonic sonar and RWTH Mindstorms NXT Toolbox for Matlab to connect the robot to Matlab. This simulation and experiment also incorporate particle filter localization from previous research. The simulation and experiment show that the Value Function can be utilized very well.

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来源期刊

2011 2nd International Conference on Instrumentation, Communications, Information Technology, and Biomedical Engineering

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