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An improved fuzzy inference strategy using reinforcement learning for trajectory-tracking of a mobile robot under a varying slip ratio

Published online by Cambridge University Press:  25 January 2024

Muhammad Qomaruz Zaman  and
Hsiu-Ming Wu Open the ORCID record for Hsiu-Ming Wu [Opens in a new window]
Muhammad Qomaruz Zaman
Affiliation:
Graduate Institute of Manufacturing Technology, National Taipei University of Technology, Taipei, Taiwan
Hsiu-Ming Wu*
Affiliation:
Department of Intelligent Automation Engineering, National Taipei University of Technology, Taipei, Taiwan
*
Corresponding author: Hsiu-Ming Wu; Email: hmwu@mail.ntut.edu.tw
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Abstract

In this study, a fuzzy reinforcement learning control (FRLC) is proposed to achieve trajectory tracking of a differential drive mobile robot (DDMR). The proposed FRLC approach designs fuzzy membership functions to fuzzify the relative position and heading between the current position and a prescribed trajectory. Instead of fuzzy inference rules, the relationship between the fuzzy inputs and actuator voltage outputs is built using a reinforcement learning (RL) agent. Herein, the deep deterministic policy gradient (DDPG) methodology consisted of actor and critic neural networks is employed in the RL agent. Simulations are conducted with considering varying slip ratio disturbances, different initial positions, and two different trajectories in the testing environment. In the meantime, a comparison with the classical DDPG model is presented. The results show that the proposed FRLC is capable of successfully tracking different trajectories under varying slip ratio disturbances as well as having performance superiority to the classical DDPG model. Moreover, experimental results validate that the proposed FRLC is also applicable to real mobile robots.

Keywords

fuzzy reinforcement learning controltrajectory-trackingdifferential drive mobile robotdeep deterministic policy gradientactor-critic neural networks
Type
Research Article
Information
Robotica , Volume 42 , Issue 4 , April 2024 , pp. 1134 - 1152
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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