Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Journal of Harbin Engineering University》 2004-02
Add to Favorite Get Latest Update

Research on reinforcement learning and its application to mobile robot

LU Jun~1, XU Li~2,ZHOU Xiao-ping~2 (1. School of Automation, Harbin Engineering University, Harbin 150001,China;2. China Ordnance Test Center of Baicheng, Baicheng 137001, China)  
Path planning,both global and local, is one of key problems of intelligent robot. Local path planning is particularly challenging. It is difficult to obtain a good path in a complex environment. To overcome this,the reinforcement learning method was used for local path planning in a unknown and complex environment. Aiming at the slow convergent rate and other drawbacks of standard Q-learning, the multi-step on-policy SARSA(λ) reinforcement algorithm was adopted in the field of robot's local path planning and the related problems were discussed. The CMAC neural network was used to realize the reinforcement learning system. The SARSA(λ) algorithm was implemented by using the CMAC neural network. The switching method between the path planning network and the wall-following network was adopted to resolve local path planning of a autonomous mobile robot in the environment with complex obstacles. The simulation results demonstrate the efficiency of the algorithm. The algorithm has good (adaptation) and self-learning ability compare with other traditional methods.
【CateGory Index】: TP242
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
Chinese Journal Full-text Database 3 Hits
1 XU Ming-liang1,2,CHAI Zhi-lei2,XU Wen-bo2(1.Department of Electronic Information Engineering,Wuxi City College of Vocational Techonology,Wuxi 214063,China;2.Institute of Information Engineering,Jiangnan University,Wuxi 214122,China);Wall-following control of a mobile robot with fuzzy Q-learning[J];Electric Machines and Control;2010-06
2 YANG Li-ping, HONG Bing-rong,ZHOU Pu-cheng (School of Computer Science & Technology, Harbin Institute of Technology, Harbin 150001, China);Study on mobile robot reactive navigation based on Motor Schema[J];Journal of Harbin University of Commerce(Sciences Edition);2005-05
3 SHENG Weitao;ZHANG Wenjun;ZHANG Jianxing;College of Automation,Chongqing University;;Neural Network-based Q-learning Applied to Obstacle Avoidance in Khepera Ⅱ Mobile Robots[J];World Sci-Tech R & D;2013-03
Chinese Journal Full-text Database 4 Hits
1 ZHANG Ru\|Bo, YANG Guang\|Ming, GU Guo-Chang, and ZHANG Guo-Yin (Department of Computer and Information Science, Harbin Engineering University, Harbin 150001);Q-LEARNING AND ITS APPLICATION IN LOCAL PATH PLANNING OF INTELLIGENT ROBOTS[J];JOURNAL OF COMPUTER RESEARCH AND DEVELOPMENT;1999-12
2 CHEN Huan Wen ①, XIE Li Juan ①, and XIE Jian Ping ② ①(Department of Mathematics and Computer Science, Changsha Electric Power University, Changsha 410077) ②(Network Center, Changsha Communications University, Changsha 410076);A CLASS OF FORGETTING ALGORITHMS FOR THE VALUE-BASED REINFORCEMENT LEARNING[J];Journal of Computer Research and Development;2001-04
3 CHEN Wei dong\ XI Yu geng\ GU Dong lei (1.Department of Automation, Shanghai Jiaotong University,\ Shanghai, 200030; 2.Robotics Laboratory, Chinese Academy of Sciences\ Shenyang\ 110015);A SURVEY OF REINFORCEMENT LEARNING IN AUTONOMOUS MOBILE ROBOTS[J];Robot;2001-04
4 CHEN Hui,ZHOU Ping,OUYANG Kai (Institute of BME, Capital University of Medical Sciences, Beijing 100054);Decision of Structure and Arguments of CMAC[J];Computer Engineering;2003-02
Chinese Journal Full-text Database 10 Hits
1 ZHANG Dongmei1,LIU Qiang2(1.National Engineering Lab.of Disaster Backup Technology,Beijing University of Posts and Telecommunications,Beijing 100876,China;2.National Computer Network Emergency Response Technical Team/Cooraination Center of China,Beijing 100029,China);A Reinforcement Learning-Based Reconfiguration Decision Making Scheme for Application Reconfiguration in Wireless Sensor Networks[J];Journal of Beijing Jiaotong University;2010-03
2 YANG Ping,BI Yi-ming,SUN Shu-ling(Second Artillery Engineering College,Xi'an 710025,Shaanxi,China);Research on Maneuver Agent with Autonomous Decision-Making Capability[J];Acta Armamentarii;2007-11
3 ZHAO Xiao-hua~1 LI Zhen-long~2 YU Quan~1 ZHANG Jie~2 (1.Key Lab of Transportation in Beijing,Beijing University of Technology,Beijing 100022,China;2.College of Electronic Information and Control Engineering,Beijing University of Technology,Beijing 100022,China);Based on Switching-model Cooperative Control for Two Intersections Applying Q-Learning[J];Journal of Beijing University of Technology;2007-11
4 SUN Ruo-ying,LI Chen,ZHAO Gang(School of Information Management,Beijing Information Science and Technology University,Beijing 100192,China;);Solution model for the bullwhip effect in supply chain based on reinforcement learning[J];Journal of Beijing Information Science & Technology University;2011-01
5 Yang Bo(School of Automation Science and Electrical Engineering,Beijing University of Aeronautics and Astronautics,Beijing 100191,China)Wang Junkui(Chengdu Aircraft Design & Research Institute,Chengdu 610041,China);CMAC neural network for the rudder dynamic load simulator of unmanned aerial vehicles[J];Journal of Beijing University of Aeronautics and Astronautics;2009-11
6 Ma Yaofei Gong Guanghong Peng Xiaoyuan(School of Automation Science and Electrical Engineering,Beijing University of Aeronautics and Astronautics,Beijing 100191,China);Cognition behavior model for air combat based on reinforcement learning[J];Journal of Beijing University of Aeronautics and Astronautics;2010-04
7 LIU Huaqiang,TANG Di,YANG Quan,GUO LiweiNational Engineering Research Center of Advance Rolling Technology,University of Science and Technology Beijing,Beijing 100083,China;Rolling force prediction model of a multi-roll cold tandem mill by fuzzy cerebellum model articulation controller[J];Journal of University of Science and Technology Beijing;2006-10
8 ZHANG Yu-jie,MENG Xiang-wu Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia,Beijing University of Posts and Telecommunications,Beijing 100876,China;Genetic algorithm with forgetting and its application in initial credit scoring[J];Journal of University of Science and Technology Beijing;2012-04
9 WANG Hua~(1,2),CUI Xiao-ting~3,LIU Xiang-dong~3,ZHANG Yu-he~3(1.College of Astronautics,Northwestern Polytechnical University,Xi'an 710072,China;2.Shanghai Academy of Spaceflight Technology,Shanghai 200235,China;3.Department of Automatic Control,School of Information Science and Technology,Beijing Institute of Technology,Beijing 100081,China);On-Line Fuzzy Neural Control of Satellite Attitude Based on Q-Learning[J];Transactions of Beijing Institute of Technology;2006-03
10 Bi Jinbo Wu Cangpu (Department of Automatic Control, Beijing Institute of Technology, Beijing100081);Efficient Temporal Difference Learning with Adaptive λ[J];北京理工大学学报(英文版);1999-03
China Proceedings of conference Full-text Database 10 Hits
1 Mao Jianlin,Xiang Fenghong,Feng Lihui Dept.of Automation,Kunming University of Science and Technology,Kunming 650051,P.R.China;An Adaptive Real-time Bandwidth Allocation Strategy for IEEE802.15.4[A];[C];2008
2 Ma Li 1,Liu Weiyi 2 1.College of Information,Yunnan University,Kunming 650091,P.R.China 2.College of Information,Yunnan University,Kunming 650091,P.R.China;A Coordination Model of Game Theory for Multi-intersection-agents and the Algorithm for Solving Equilibrium Based on the Reinforcement Learning Method[A];[C];2008
3 CHEN Chunlin1,DONG Daoyi2 1.Department of Control and System Engineering,Nanjing University,Nanjing 210093,P.R.China2.School of Engineering and Information Technology,University of New South Wales at the Australian Defence Force Academy,Canberra,ACT 2600,Australia;Complexity Analysis of Quantum Reinforcement Learning[A];[C];2010
4 LIU Chang-you~1 SUN Guang-yu~2 1.College of Transportation Engineering,Civil Aviation University of China,Tianjing 300300,China; 2.College of Information Science and Engineering,Shenyang University of Technology,Shenyang 110023,China.;A type of Q-learning method based on Elman network[A];[C];2004
5 ZOU Liang, XU Jian-min College of Traffic and Communication,South China University of Technology, Guangzhou 510640, China.;Adaptation of Q-learning in dynamic shortest paths problem based on electronic maps[A];[C];2005
6 Wei Chen,Jing Guo,Xiong Li,Jie Wang Automation Faculty,GuangDong University of Technology,GuangZhou,GuangDong510006.China.;Hybrid Q-learning Algorithm About Cooperation in MAS[A];[C];2009
7 Junqin Xu~1,Jihui Zhang~2,Yushuang Liu~3 1.School of Mathematical Science,Qingdao University,Qingdao 266071,China 2.Institute of Complexity Science,Qingdao University,Qingdao 266071,China 3.College of Science,Qingdao University of Science & Technology,Qingdao 266071,China;An Adaptive Inventory Control for a Supply Chain[A];[C];2009
8 Meng Joo Er~1, Yi Zhou~2 (1.Intelligent Systems Center 50 Nanyang Drive. 7th Storey. Research TechnoPlaza Boarder (?) Block. Singapore. 637533) (2.Process Instrumentation Lab, S2.2-B4-03. School of EEE. Nanyang Technological University. Singapore. 639798);Modeling and Fuzzy Q-Learning Control of Biped Walking[A];[C];2005
9 Wang Zhongmin~(1,2), Yue Hong~1(1. Institute of Robotic and Automation, Hebei University of Technology, Tianjin 300130 2. Dept. of Mechanical Engineering, Tianjin University of Technology and Education, Tianjin 300222);Mobile Robot Local Path Planning Based on Q Reinforcement Learning and CMAC[A];[C];2005
10 Chen Chun-lin (Department of Control & System Engineering,Nanjing University,Jiangsu,Nanjing,210093);Recent Progress in Hierarchical Reinforcement Learning[A];[C];2008
Chinese Journal Full-text Database 10 Hits
1 SU Zhibao,LU Jilian(School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing100081, China);A Study on the Path Planning of Mobile Robot with the Fuzzy Logic Method[J];Journal of Beijing Institute of Technology;2003-03
2 Duan Qunjie,Zhang Mingjun and Others;Local Path Planning Method for AUV Based on Fuzzy-neural Network[J];Ship Engineering;2001-01
3 WU Hong-yan,LIU Shu-hua,ZHANG Yu(School of Computer Science,Northeast Normal University,Changchun 130117,China);Application of Reinforcement Learning Based on Radial Basis Function Neural Networks in Robot Navigation[J];Journal of Jilin University(Information Science Edition);2009-02
4 CHEN Hua hua, DU Xin, GU Wei kang(Department of Information Science and Electronics Engineering,Zhejiang University,Hangzhou 310027,China);Neural Network and Genetic Algorithm Based Dynamic Obstacle Avoidance and Path Planning for A Robot[J];Journal of Transcluction Technology;2004-04
5 WANG Xiao-yu, YAN Ji-hong, ZANG Xi-zhe, QIN Yong, ZHAO Jie(Robotics Institute, Harbin Institute of Technology, Harbin 150001, China);A Multisensory Data Fusion Method of the Two-Wheeled Self-Balanced Robot[J];Chinese Journal of Sensors and Actuators;2007-03
6 JIANG Yan 1,GAO Qing ji 1,2 ,ZHANG Li hui 1,SHI Chao xia 1 (1.Department of Automatic Control Engineering,Northeast China Institute of Electric Power Engineering,Jilin City 132012;2.Department of Computer Science and Technology,Harbin Institute of Technology,Harbin City 150001);Research on Recognition and Localization Methods for Autonomous Soccer Robot[J];Journal of Northeast China Institute of Electric Power Engineering;2002-03
7 WU Wei1,LIU Xing-gang1,WANG Zhong-shi2,XU Xin-he1(1.Key Laboratory of Process Industry Automation,Ministry of Education,Northeastern University,Shenyang 110004,China;2.School of Information Technology & Management Engineering,Shenyang University,Shenyang 110044,China.);Application of Multisensor Fusion to Precise Robot Localization[J];Journal of Northeastern University(Natural Science);2007-02
8 Wang Haiying, You Bo, Zhang Liyong, Li Hongwen(College of Automatization, Harbin University of Science and Technology, Harbin 150080, P. R. China);Optimization Design for PID Parameter of Mobile Robot Based on Genetic Algorithm[J];Journal of Northeast Forestry University;2008-02
9 PENG Yi-zhun~1,YUAN Kui~1,LIU Jun-cheng~2,ZOU Wei~1(1.Institute of Automation,Chinese Academy of Sciences,Beijing 100080,China;2.Automation Department,North China Electric Power University,Beijing 102206, China);A three-layer planning navigation method for indoor mobile robot[J];Electric Machines and Control;2006-04
10 XIE Yun,YANG Yi-min(Faculty of Automation,Guangdong University of Technology,Guangzhou 510090,China);The study of self-localization for autonomous soccer robot based of monocular vision[J];Journal of Circuits and Systems;2006-01
【Secondary References】
Chinese Journal Full-text Database 8 Hits
1 CAI Jian-xian1,SUN Xu-guang2,YANG Qiu-ge2(1.Department of Disaster Prevention Instrument,Institute of Disaster Prevention,Sanhe 065201,China; 2.Department of Disaster Information Engineering,Institute of Disaster Prevention,Sanhe 065201,China);Operant conditioning automaton with mapping fields of spontaneous contraction[J];Electric Machines and Control;2012-09
2 ;Intelligent Obstacle Avoidance System for Entertainment Robot Based on Multi-sensors[J];Industrial Control Computer;2014-12
3 ZHANG Jing-jing,ZHOU De-yun,ZHANG Kun(School of Electronics & Information,Northwestern Polytechnical University,Xi'an 710129,China);Algorithm based on reinforcement learning for UAV search[J];Application Research of Computers;2011-10
4 LIN Xu-mei;College of Automation Engineering,Qingdao Technological University;;The Trajectory Simulation for Mobile Robot[J];Computer Simulation;2014-09
5 SONG Ying-li,LI Cai-hong(School of Computer Science and Technology,Shandong University of Technology,Zibo 255049,China);Research of roaming behavior for the mobile robot[J];Journal of Shandong University of Technology(Natural Science Edition);2010-04
6 YUAN Yulong;LI Jun;School of Automation,Chongqing University;;Precision Control of Mobile Robot in Wall-following Behavior Based on Fuzzy Logic[J];World Sci-tech R & D;2013-06
7 CHEN Wei-dong;GUAN Yong-zhen;ZHU Qi-guang;ZHAO Cheng-long;School of Information Science and Engineering,Yanshan University;National University Science Park,Yanshan University;Naval Unit No.91821;;Navigation Research of a Mobile Robot with Fuzzy Sarsa(λ) Learning[J];Journal of Chinese Computer Systems;2013-11
8 MA Lei;ZHANG Wenxu;DAI Chaohua;School of Electrical Engineering,Southwest Jiaotong University;;A Review of Developments in Reinforcement Learning for Multi-robot Systems[J];Journal of Southwest Jiaotong University;2014-06
【Secondary Citations】
Chinese Journal Full-text Database 4 Hits
1 Chen Hui, Ouyang Kai(Capital University of Medical Sciences, Dept. BME, Beijing 100054);Comparison of BP Network and CMAC Network By Emulation[J];BEIJING BIOMEDICAL ENGINEERING;1997-02
2 ZHANG Ru\|Bo, YANG Guang\|Ming, GU Guo-Chang, and ZHANG Guo-Yin (Department of Computer and Information Science, Harbin Engineering University, Harbin 150001);Q-LEARNING AND ITS APPLICATION IN LOCAL PATH PLANNING OF INTELLIGENT ROBOTS[J];JOURNAL OF COMPUTER RESEARCH AND DEVELOPMENT;1999-12
3 ;The Artificial Intelligence:Present States of Study and Trends of Development[J];Computer Science;1998-02
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved