Path planning of a mobile robot as a discrete optimization problem and adjustment of weight parameters in the objective function by reinforcement learning

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In a previous paper, we proposed a solution to path planning of a mobile robot. In our approach, we formulated the problem as a discrete optimization problem at each time step. To solve the optimization problem, we used an objective function consisting of a goal term, a smoothness term and a collision term. This paper presents a theoretical method using reinforcement learning for adjusting weight parameters in the objective functions. However, the conventional Q-learning method cannot be applied to a non-Markov decision process. Thus, we applied Williams's learning algorithm, REINFORCE, to derive an updating rule for the weight parameters. This is a stochastic hill-climbing method to maximize a value function. We verified the updating rule by experiment.

Original languageEnglish
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Pages315-320
Number of pages6
Volume2019 LNAI
Publication statusPublished - 2001
Externally publishedYes
Event4th Robot World Cup Soccer Games and Conferences, RoboCup 2000 - Melbourne, VIC
Duration: 2000 Aug 272000 Sep 3

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume2019 LNAI
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other4th Robot World Cup Soccer Games and Conferences, RoboCup 2000
CityMelbourne, VIC
Period00/8/2700/9/3

Fingerprint

Reinforcement learning
Motion planning
Mobile robots
Learning algorithms
Experiments

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

Cite this

Igarashi, H. (2001). Path planning of a mobile robot as a discrete optimization problem and adjustment of weight parameters in the objective function by reinforcement learning. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 2019 LNAI, pp. 315-320). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2019 LNAI).

Path planning of a mobile robot as a discrete optimization problem and adjustment of weight parameters in the objective function by reinforcement learning. / Igarashi, Harukazu.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 2019 LNAI 2001. p. 315-320 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2019 LNAI).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Igarashi, H 2001, Path planning of a mobile robot as a discrete optimization problem and adjustment of weight parameters in the objective function by reinforcement learning. in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). vol. 2019 LNAI, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 2019 LNAI, pp. 315-320, 4th Robot World Cup Soccer Games and Conferences, RoboCup 2000, Melbourne, VIC, 00/8/27.
Igarashi H. Path planning of a mobile robot as a discrete optimization problem and adjustment of weight parameters in the objective function by reinforcement learning. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 2019 LNAI. 2001. p. 315-320. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
Igarashi, Harukazu. / Path planning of a mobile robot as a discrete optimization problem and adjustment of weight parameters in the objective function by reinforcement learning. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 2019 LNAI 2001. pp. 315-320 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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