Path-Tracking Control of a Non-Holonomic Car-Like Robot with Reinforcement Learning

نویسندگان

  • Jacky Baltes
  • Yuming Lin
چکیده

The problem investigated in this paper is that of driving a car-like robot along a race track and the use of reinforcement learning to find a good control function. The reinforcement learner uses a case-based function approximator to extend the reinforcement learning paradigm to handle continuous states. The learned controller performs similar to the best control functions in both simulation and also in practical driving. 1 CITR, Tamaki Campus, University of Auckland, Private Bag 92019 Computer Science Depatrment of The University of Auckland CITR at Tamaki Campus (http://www.citr.auckland.ac.nz) CITR-TR-47 June 1999 Path-Tracking Control of a Non-Holonomic Car-Like Robot with Reinforcement Learning Jacky Baltes 1, and Yuming Lin 1 Abstract The problem investigated in this paper is that of driving a car-like robot along a race track and the use of reinforcement learning to find a good control function. The reinforcement learner uses a case-based function approximator to extend the reinforcement learning paradigm to handle continuous states. The learned controller performs similar to the best control functions in both simulation and also in practical driving.The problem investigated in this paper is that of driving a car-like robot along a race track and the use of reinforcement learning to find a good control function. The reinforcement learner uses a case-based function approximator to extend the reinforcement learning paradigm to handle continuous states. The learned controller performs similar to the best control functions in both simulation and also in practical driving. 1 CITR, Tamaki Campus, University of Auckland, Private Bag 92019

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تاریخ انتشار 1999