Path Searching of Mobile Robot for Obstacle Avoidance Using Reinforcement Learning

Integration of Reinforcement Learning with RRT

Abstract

RRT is one of the method which can search the path. However, in RRT, 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 RRT is combined with reinforcement learning. The effectiveness of this method is investigated by computer simulation.