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An Improved Reinforcement Learning Algorithm for Cooperative Behaviors of Mobile Robots
Joint Authors
Song, Yong
Wang, Xiaoli
Ruan, Jiuhong
Li, Yibin
Ma, Xin
Source
Journal of Control Science and Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-03-04
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
Reinforcement learning algorithm for multirobot will become very slow when the number of robots is increasing resulting in an exponential increase of state space.
A sequential Q-learning based on knowledge sharing is presented.
The rule repository of robots behaviors is firstly initialized in the process of reinforcement learning.
Mobile robots obtain present environmental state by sensors.
Then the state will be matched to determine if the relevant behavior rule has been stored in the database.
If the rule is present, an action will be chosen in accordance with the knowledge and the rules, and the matching weight will be refined.
Otherwise the new rule will be appended to the database.
The robots learn according to a given sequence and share the behavior database.
We examine the algorithm by multirobot following-surrounding behavior, and find that the improved algorithm can effectively accelerate the convergence speed.
American Psychological Association (APA)
Song, Yong& Li, Yibin& Wang, Xiaoli& Ma, Xin& Ruan, Jiuhong. 2014. An Improved Reinforcement Learning Algorithm for Cooperative Behaviors of Mobile Robots. Journal of Control Science and Engineering،Vol. 2014, no. 2014, pp.1-8.
https://search.emarefa.net/detail/BIM-1040186
Modern Language Association (MLA)
Song, Yong…[et al.]. An Improved Reinforcement Learning Algorithm for Cooperative Behaviors of Mobile Robots. Journal of Control Science and Engineering No. 2014 (2014), pp.1-8.
https://search.emarefa.net/detail/BIM-1040186
American Medical Association (AMA)
Song, Yong& Li, Yibin& Wang, Xiaoli& Ma, Xin& Ruan, Jiuhong. An Improved Reinforcement Learning Algorithm for Cooperative Behaviors of Mobile Robots. Journal of Control Science and Engineering. 2014. Vol. 2014, no. 2014, pp.1-8.
https://search.emarefa.net/detail/BIM-1040186
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1040186