IEEJ Transactions on Industry Applications
Online ISSN : 1348-8163
Print ISSN : 0913-6339
ISSN-L : 0913-6339
Autonomous Rolling Method of Intelligent Wheel Chair Using the Teaching and Q-learning
Hideki AbeTomoki HamagamiSeiichi KoakutsuHironori Hirata
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2003 Volume 123 Issue 11 Pages 1384-1385


In this paper, we propose an autonomous rolling method of intelligent wheel chair (IWC) using the teaching and Q-learning. In the proposed method, first, IWC learns a run path. Next, IWC corrects a position gap around the teaching point by using Q-learning. When detection of the teaching point goes wrong by the noise to motors, IWC cannot reach to the destination. The proposed method is applied to the task which runs a passage, and the simulation results show that IWC repeats a cutback and corrects a position gap. Furthermore, the simulation results show that IWC corrects a position gap more certainly by using the data learned in the environment with the noise to motors.

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© 2003 by the Institute of Electrical Engineers of Japan
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