NDLI: Navigation of Autonomous Vehicles in Unknown Environments using Reinforcement Learning

Content Provider	IEEE Xplore Digital Library
Author	Martinez-Marin, T. Rodriguez, R.
Copyright Year	2007
Description	Author affiliation: Alicante Univ., Alicante (Martinez-Marin, T.)
Abstract	In this paper we propose a generic approach for navigation of nonholonomic vehicles in unknown environments. The vehicle model is also unknown, so the path planner uses reinforcement learning to acquire the optimal behaviour together with the model, which is estimated by a reduced set of transitions. After the training phase, the vehicle is able to explore the environment through a wall-following behaviour. In order to guide the navigation and to build a map of the environment the planner employs virtual walls. The learning time to acquire a good approximation of the wall-following behaviour was only a few minutes. Both simulation and experimental results are reported to show the satisfactory performance of the method.
Starting Page	872
Ending Page	876
File Size	497312
Page Count	5
File Format	PDF
ISBN	1424410673
ISSN	19310587
DOI	10.1109/IVS.2007.4290226
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-06-13
Publisher Place	Turkey
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Remotely operated vehicles Mobile robots Learning Intelligent vehicles Vehicle dynamics Semiconductor device modeling Sensor arrays CMOS image sensors Power system planning
Content Type	Text
Resource Type	Article

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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
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