Dynamic Environment Path Planning Based on Q-Learning Algorithm and Genetic Algorithm - 文章详情页

作者：

Yu, N. (Yu, N..) | Wang, C. (Wang, C..) | Mo, F. (Mo, F..) | Cai, J. (Cai, J..)

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Scopus PKU CSCD

摘要：

Different　from　the　past　with　the　state-action　as　the　index,　a　method　of　establishing　Q-value　table　by　discretizing　time　was　introduced.　The　problem　of　selecting　an　action　in　a　certain　state　was　transformed　into　the　problem　of　choosing　an　action　at　a　certain　time,　which　achieved　the　application　of　Q　learning　algorithm　in　dynamic　continuous　environment.　Firstly　a　genetic　algorithm　for　global　path　planning　was　adopted.　Then　the　obstacle　was　dynamically　avoided　through　Q-learning.　The　whole　system　followed　a　successive　“offline”　and　“online”　multi-layer　path　planning　philosophy.　Indicated　by　the　experiment　results,　a　path　planning　system　of　mobile　robot　is　achieved,　and　the　proposed　methods　are　state-of-the-art.　©　2017,　Editorial　Department　of　Journal　of　Beijing　University　of　Technology.　All　right　reserved.

关键词：

Continuousenvironment; Dynamicenvironment; Path planning; Q-learning algorithm

作者机构：

[ 1 ] [Yu, N.]Faculty of Information Technology, Beijing University of Technology, Beijing, 100124, China
[ 2 ] [Yu, N.]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing University of Technology, Beijing, 100124, China
[ 3 ] [Wang, C.]Faculty of Information Technology, Beijing University of Technology, Beijing, 100124, China
[ 4 ] [Wang, C.]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing University of Technology, Beijing, 100124, China
[ 5 ] [Mo, F.]Faculty of Information Technology, Beijing University of Technology, Beijing, 100124, China
[ 6 ] [Mo, F.]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing University of Technology, Beijing, 100124, China
[ 7 ] [Cai, J.]Faculty of Information Technology, Beijing University of Technology, Beijing, 100124, China
[ 8 ] [Cai, J.]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing University of Technology, Beijing, 100124, China

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