Title :
Simplified Q-learning for holonomic mobile robot navigation
Author :
Adiprawita, Widyawardana ; Ahmad, Adang Suwandi ; Sembiring, Jaka ; Trilaksono, Bambang R.
Author_Institution :
Sch. of Electr. Eng. & Inf., Bandung Inst. of Technol., Bandung, Indonesia
Abstract :
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.
Keywords :
computational complexity; learning (artificial intelligence); mobile robots; sonar; ultrasonic applications; Lego Mindstorms NXT; Matlab; POMDP; RWTH Mindstorms NXT Toolbox; autonomous mobile robot; holonomic mobile robot navigation; simplified q-learning; ultrasonic sonar; value function complexity; Computer architecture; Educational institutions; Mobile robots; Probabilistic logic; Robot sensing systems; Uncertainty; LEGO Mindstorm NXR; POMDP; Q-Learning; RWTH toolbox; autonomous mobile robot; navigation; value function; value iteration;
Conference_Titel :
Instrumentation, Communications, Information Technology, and Biomedical Engineering (ICICI-BME), 2011 2nd International Conference on
Conference_Location :
Bandung
Print_ISBN :
978-1-4577-1167-1
DOI :
10.1109/ICICI-BME.2011.6108595
