The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2008
Session ID : 2P2-G05
Conference information
2P2-G05 Path Searching of Mobile Robot for Obstacle Avoidance Using Reinforcement Learning : Integration of A* algorithm and Reinforcement Learning
Kenji HIRAOKASeiji AOYAGI
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Abstract
It is necessary for a mobile robot to obtain a path, which can adapt to unknown and changeable environment. A method of path search using reinforcement learning is proposed. The problem herein is that the path is not necessarily the shortest only by applying reinforcement learning. On the other hand, A* algorithm is one of the method which can search the shortest path. However, in A* algorithm, the position of the obstacle, the start, and the goal must be known in advance of the searching process. To overcome these problems, in the present paper, a method is proposed in which A* algorithm is combined with reinforcement learning. The effectiveness of this method is investigated by computer simulation.
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© 2008 The Japan Society of Mechanical Engineers
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