Dynamic Obstacle Avoidance by Distributed Algorithm based on ReinforcementLearning
محل انتشار: ماهنامه بین المللی مهندسی، دوره: 28، شماره: 2
سال انتشار: 1393
نوع سند: مقاله ژورنالی
زبان: انگلیسی
مشاهده: 537
فایل این مقاله در 7 صفحه با فرمت PDF قابل دریافت می باشد
- صدور گواهی نمایه سازی
- من نویسنده این مقاله هستم
استخراج به نرم افزارهای پژوهشی:
شناسه ملی سند علمی:
JR_IJE-28-2_005
تاریخ نمایه سازی: 13 مرداد 1394
چکیده مقاله:
In this paper, we focus on the application of reinforcement learning to obstacle avoidance in dynamicenvironments in wireless sensor networks. A distributed algorithm based on reinforcement learning isdeveloped for sensor networks to guide mobile robot through the dynamic obstacles. The sensornetwork models the danger of the area under coverage as obstacles, and has the property of adoption ofitself against possible changes. The proposed protocol can integrate the reward computation of thesensors with information of the intended place of robot so that it guides the robot step by step throughthe sensor network by choosing the safest path in dangerous zones. Simulation results show that themobile robot can get to the target point without colliding with any obstacle after a period of learning.Also, we discussed about time propagation between obstacle, goal, and mobile robot information.Experimental results show that our proposed method has the ability of fast adoption in real applicationsin wireless sensor networks
کلیدواژه ها:
Reinforcement Learning ، Sensor NetworkDynamic Obstacle AvoidanceRobot Navigation
نویسندگان
F Yaghmaee
Electrical and Computer Engineering Department, Semnan University, Semnan, Iran
H.R Koohi
Electrical and Computer Engineering Department, Semnan University, Semnan, Iran