NDLI: Application of Artificial Neural Network Based on Q-learning for Mobile Robot Path Planning

Content Provider	IEEE Xplore Digital Library
Author	Caihong Li Jingyuan Zhang Yibin Li
Copyright Year	2006
Description	Author affiliation: Sch. of Comput. Sci. & Technol., Shandong Univ. of Technol., Zibo (Caihong Li; Jingyuan Zhang)
Abstract	Path planning is a difficult part of the navigation task for the mobile robot under dynamic and unknown environment. It needs to solve a mapping relationship between the sensing space and the action space. The relationship can be achieved through different ways. But it is difficult to be expressed by an accurate equation. This paper uses multi-layer feedforward artificial neural network (ANN) to construct a path-planning controller by its powerful nonlinear functional approximation. Then the path planning task is simplified to a classified problem which are five state-action mapping relationship. One reinforcement learning method, Q-learning, is used to collect training samples for the ANN controller. At last the trained controller runs in the simulation environment and retrains itself furthermore combining the reinforcement signal during the interaction with the environment. Strategy based on the Combination of ANN and Q-learning is better than using only one of the two methods. The simulation result also shows that the strategy can find the optimal path than using Q-learning only.
Starting Page	978
Ending Page	982
File Size	2141640
Page Count	5
File Format	PDF
ISBN	1424405289
DOI	10.1109/ICIA.2006.305870
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-08-20
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	ANN Q-learning Navigation Artificial neural networks Turning mobile robot Path planning path planning Mobile robots Application software Learning Computer science Space technology Robot sensing systems
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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