抄録
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.
