Experimental evaluation of new navigator of mobile robot using fuzzy Q-learning Online publication date: Tue, 20-Aug-2019
by Fadhila Lachekhab; Mohamed Tadjine; Mohamed Kesraoui
International Journal of Engineering Systems Modelling and Simulation (IJESMS), Vol. 11, No. 2, 2019
Abstract: In this paper, we propose an approach of fusing the fuzzy control actions of the obstacle avoidance and goal-seeking which utilises fuzzy logic and reinforcement learning for navigation of a mobile robot in unknown environments. The proposed reactive navigator consists of three modules: move to goal, obstacle avoidance, and fuzzy behaviour supervisor. The selection of the actions available in each fuzzy rule is learned through reinforcement learning (Q-learning algorithm). A new and powerful method is used to construct automatically these rules. The experiments carried out on the Pioneer 2P mobile robot have shown that the navigator is able to perform a successful navigation task in various unknown environments with smooth action and exceptionally good robustness.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Engineering Systems Modelling and Simulation (IJESMS):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com