On Local Path Planning for the Mobile Robot based on QL Algorithm
作者单位：School of Computer Science and TechnologyShandong University of Technology School of Computer SoftwareTianjin University
会议名称：《第37届中国控制会议》
会议日期：2018年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：supported by National Natural Science Foundation(NNSF)of China under Grant 61473179 and61602280 The Natural Science Foundation of Shandong province ZR2014FM007,ZR2014FQ028 and ZR2014FQ024
关 键 词：mobile robot local path planning QL control rules ε-balance strategies selection algorithm of actions
摘 要：This paper proposes a local path planning method tor the mobile robot based on the Q-Learnmg（QL） algorithm to improve the common problems existed in the traditional method,such as the slow convergence rate,the dilemma between exploration and exploitation,and the complex obstacles in the ***,the variables of state and action are designed and discretized according to the path planning *** a Q-value function matrix is used to store the reinforcement value,and a reward function is constructed according to the requirements of obstacle avoidance and shortest *** solve the balance problem of exploration and exploitation and improve the convergence speed,the ε-balance strategies and the selection algorithm of actions are designed to improve the learning process of *** training of QL,the optimal pairs of state and action are obtained,further the optimal control rules are achieved and used to perform local path *** order to prevent the incomplete visiting problem for the pairs of state and action,the steering rules are appended to improve the efficiency of the path ***,the designed method has been *** results show that the robot can plan an optimal or sub-optimal path while avoiding obstacles,even in a complicated environment.