Title :
Intelligent navigation and control of an autonomous underwater vehicle based on Q-learning and self-organizing control
Author :
Kim, Namhoon ; Yoon, Gyeong-Hwan ; Lee, Doheon
Abstract :
An autonomous underwater vehicle (AUV) is developed to explore and patrol in underwater environments. To accomplish these objectives, an autonomous navigation and control system is essential to an AUV. An intelligent navigation system produces safe paths from the start point to the target point by itself, and the control system makes the vehicle follow the planned path. In this paper, we propose an autonomous navigation and control system for AUVs based on reinforcement learning scheme.
Keywords :
learning (artificial intelligence); mobile robots; remotely operated vehicles; self-adjusting systems; underwater vehicles; Q-learning control; autonomous underwater vehicle; intelligent control; intelligent navigation; reinforcement learning scheme; self-organizing control; Control systems; Intelligent control; Intelligent robots; Intelligent systems; Intelligent vehicles; Learning; Mobile robots; Navigation; Remotely operated vehicles; Underwater vehicles; autonomous underwater vehicle; intelligent system; reinforcement learning;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
