A Case Study on Goal Oriented Obstacle Avoidance

We report on several test experiments with a mobile agent equipped with an artificial neural net control to achieve a basic route direction goal reflex in a 2-dimensional environment with obstacles. A real assembled 4tronix Initio robot kit agent is reproduced with its sensor and motor characteristics in a virtual environment for experimenting and comparing the behavior of its artificial neural net control with two different learning approaches: A standard supervised error back propagation training with examples, and an unsupervised reinforcement learning with environmental feedback.