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Optimal motion planning by reinforcement learning in autonomous mobile vehicles

Published online by Cambridge University Press:  19 May 2011

M. Gómez ,
R. V. González ,
T. Martínez-Marín ,
D. Meziat  and
S. Sánchez
M. Gómez*
Affiliation:
Departamento de Automática, Escuela Politécnica Superior, Universidad de Alcalá, Campus Universitario, 28871 Alcalá de Henares, Madrid, Spain
R. V. González
Affiliation:
Departamento de Automática, Escuela Politécnica Superior, Universidad de Alcalá, Campus Universitario, 28871 Alcalá de Henares, Madrid, Spain
T. Martínez-Marín
Affiliation:
Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal, Universidad de Alicante, 03080 Alicante, Spain
D. Meziat
Affiliation:
Departamento de Automática, Escuela Politécnica Superior, Universidad de Alcalá, Campus Universitario, 28871 Alcalá de Henares, Madrid, Spain
S. Sánchez
Affiliation:
Departamento de Automática, Escuela Politécnica Superior, Universidad de Alcalá, Campus Universitario, 28871 Alcalá de Henares, Madrid, Spain
*
*Corresponding author. E-mail: mgomez@aut.uah.es
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Summary

The aim of this work has been the implementation and testing in real conditions of a new algorithm based on the cell-mapping techniques and reinforcement learning methods to obtain the optimal motion planning of a vehicle considering kinematics, dynamics and obstacle constraints. The algorithm is an extension of the control adjoining cell mapping technique for learning the dynamics of the vehicle instead of using its analytical state equations. It uses a transformation of cell-to-cell mapping in order to reduce the time spent during the learning stage. Real experimental results are reported to show the satisfactory performance of the algorithm.

Keywords

AdjoiningCell-mappingNon-holonomic systemsOptimal motion planningReinforcement learning
Type
Articles
Information
Robotica , Volume 30 , Issue 2 , March 2012 , pp. 159 - 170
Copyright
Copyright © Cambridge University Press 2011

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