Automatic path search for roving robot using reinforcement learning

Shigeharu Miyata, Akira Yanou, Hitomi Nakamura, Shin Takehara

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)

Abstract

Rapid advances in robot technology have been made in recent years. Inconnection with these advances, robots are expected, to be utilized, in a,variety of places and, environments. This study describes 1) a, method whichallows a, robot to measure the location of its destination in the real world,based, on an image obtained, from, a, single camera, and, 2) a, method ofnavigating a, robot to a, destination which is selected, by a, user on a,display showing the forward, robot view. Consideration is also given to cases inwhich there are obstacles between the robot and, the destination. Through theuse of reinforcement learning, which is considered, a, promising candidate amongautonomous control techniques, the roving robot tries to find the shortest wayto the destination based on information concerning the locations of obstaclesand, the destination. This study also describes an image-based method ofmeasuring a, selected, location, the results from, a simulation of path findingusing reinforcement learning, and the results from an experiment of navigationin a, real environment. Finally, a, summary of the main conclusions is provided.ICIC International

Original languageEnglish
Pages (from-to)885-892
Number of pages8
JournalICIC Express Letters
Volume4
Issue number3
Publication statusPublished - Jun 1 2010

Keywords

  • Navigation
  • Path finding
  • Reinforcement learning
  • Roving robot

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

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