DocumentCode
504343
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
fYear
2009
fDate
18-21 Aug. 2009
Firstpage
630
Lastpage
634
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;
fLanguage
English
Publisher
ieee
Conference_Titel
ICCAS-SICE, 2009
Conference_Location
Fukuoka
Print_ISBN
978-4-907764-34-0
Electronic_ISBN
978-4-907764-33-3
Type
conf
Filename
5333201
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