NDLI: Q learning for mobile robot navigation in indoor environment

Content Provider	IEEE Xplore Digital Library
Author	Tamilselvi, D. Shalinie, S.M. Nirmala, G.
Copyright Year	2011
Description	Author affiliation: Department of Computer Science & Engineering, Thiagarajar College of Engineering, Madurai, Tamil Nadu, India (Tamilselvi, D.; Shalinie, S.M.; Nirmala, G.)
Abstract	This Proposed Reinforcement learning supports for optimal path selection for Mobile Robot Navigation in an indoor grid (10×10) environment. Without Prior knowledge in the environment, mobile robot calculates Q-values using current and future discounted reward in each time step. Based on the reinforcement, mobile robot learns the environment, selects the navigation path to reach the goal. Markov Decision Process (MDP) supports for optimal path selection among the paths values calculated through reinforcement learning. Simulation experiments are performed with different positions in the environment. From the start position of grid cell value 10, to reach the goal position 100, with learning rate 0.5 and the Q-value is 70.78. MDP provides the optimal path based on the highest Q-value among the four directions in a grid cell such as 100.00, 125.00, 0.00, 83.33 in the grid cell 21 (one step left direction) and chooses the 100.00 for a single step. After the entire learning environment the Q-value 206.780 is achieved for the learning rate 0.7 for the learning path from grid cell 25 to goal position 100. The learning rate makes the optimized path selection in proposed environment. The optimized path cost of 1083.19 without obstacle cost is for the proposed simulation grid environment.
Starting Page	324
Ending Page	329
File Size	515877
Page Count	6
File Format	PDF
ISBN	9781457705885
e-ISBN	9781457705908
DOI	10.1109/ICRTIT.2011.5972477
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-03
Publisher Place	India
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Learning Navigation Shape Q-values Mobile robot navigation Indoor environments Learning rate Markov processes Reinforcement Learning Mobile robots Markov Decision Process
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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