文章基本信息

标题：Planning Flying Robot Navigation in a Three-dimensional Space by Optimaztion Combining Q-learning and Monte Carlo Algorithms
本地全文：下载
作者：Sima Vosoghi Asl ; Zohreh Davarzani ; Soheila Staji 等
期刊名称：International Journal of Hybrid Information Technology
印刷版ISSN：1738-9968
出版年度：2015
卷号：8
期号：11
页码：297-306
DOI：10.14257/ijhit.2015.8.11.25
出版社：SERSC
摘要：This article examines navigation of a flying robot inside a building environment in three dimensional spaces in which the size and location of some obstacles are not determined and other obstacles and target can be moving. This article suggests a new method by combining Q-learning algorithm and Monte Carlo algorithm on optimal navigation by the flying robot. The rewards are intended to be maximized when the robot flies in the right route; moreover, the maximum performance power would be measured according to the future predictions and the well-doing of that action would be also measured. Here, this method has been implemented with Webots simulator, and simulated data are analyzed by MATLAB. The simulation results show that control of the policy obtained from Q-learning and Monte Carlo methods is more efficient compared to traditional methods in controlling flying robot navigation.
关键词：Q-learning; navigation; dynamic environment; Monte Carlo; obstacles; ; flying robot