Cooperation Learning for Behaviour-based Neural-fuzzy Controller in Robot Navigation
نویسندگان
چکیده
Based on the previously proposed extended neural-fuzzy network, this paper presents a cooperation scheme of training data based learning and reinforcement learning for constructing sensor-based behaviour modules in robot navigation. In order to solve reinforcement learning problem, a reinforcement-based neural-fuzzy control system (RNFCS) is provided, which consists of a neural-fuzzy controller (NFC) and a neuralfuzzy predictor (NFP). By estimating the “desired output”, reinforcement learning is treated from the point of view of training data based learning. Computer simulations are conducted to illustrate the effectiveness of this method. Copyright © 2005 IFAC
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