Dyna-QUF:Dyna-Q based univector field navigation for autonomous mobile robots in unknown environments

作     者：VIET Hoang-huu CHOI Seung-yoon CHUNG Tae-choong 

作者机构：Department of Computer EngineeringKyung Hee University 

出 版 物：《Journal of Central South University》 (中南大学学报（英文版）)

年 卷 期：2013年第20卷第5期

页      面：1178-1188页

核心收录：

学科分类：0810[工学-信息与通信工程] 12[管理学] 1204[管理学-公共管理] 0806[工学-冶金工程] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0805[工学-材料科学与工程（可授工学、理学学位）] 0703[理学-化学] 0802[工学-机械工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：Project(2010-0012609) supported by the Basic Science Research Program Korea 

主　　题：自主移动机器人 环境 导航 智能移动机器人 目标位置 移动方向 现实世界 Q算法 

摘      要：A novel approach was presented to solve the navigation problem of autonomous mobile robots in unknown environments with dense obstacles based on a univector field method. In an obstacle-free environment, a robot is ensured to reach the goal position with the desired posture by following the univector field. Contrariwise, the univector field cannot guarantee that the robot will avoid obstacles in environments. In order to create an intelligent mobile robot being able to perform the obstacle avoidance task while following the univector field, Dyna-Q algorithm is developed to train the robot in learning moving directions to attain a collision-free path for its navigation. Simulations on the computer as well as experiments on the real world prove that the proposed algorithm is efficient for training the robot in reaching the goal position with the desired final orientation.