BEHAVIOUR NAVIGATION LEARNINIG USING FACL ALGORITHM

Abdelkarim Souissi, Hacene Rezine

Abstract

In this article, we are interested in the reactive behaviours navigation training of a mobile robot in an unknown environment. The method we will suggest ensures navigation in unknown environments with presence off different obstacles shape and consists in bringing the robot in a goal position, avoiding obstacles and releasing it from the tight corners and deadlock obstacles shape. In this framework, we use the reinforcement learning algorithm called Fuzzy Actor-Critic learning, based on temporal difference prediction method. The application was tested in our experimental PIONEER II platform.

References

  1. Babvey 03 S. Babvey, O. Momtahan, M. R. Meybodi, “ Multi Mobile Robot Using Distributed Value function Reinforcement Learning”, IEEE, International Conference on Robotics &Automation, September 2003.
  2. Baird 95 L.C. Baird, “A Residual Algorithms: Reinforcement Learning with Function Approximation”, Proceedings of the Twelfth International Conference on Machine Learning, 1995.
  3. Beom 95 H.R. Beom, H. S. Cho, “ A Sensor-Based Navigation for a Mobile Robot Using Fuzzy Logic and Reinforcement Learning ”, IEEE, Transactions on Systems Man and Cybernetics , vol.25, NO.3 ,pp.464- 477, March 1995.
  4. Faria 00 G. Faria, R. A.F Romero “Incorporating Fuzzy Logic to Reinforcement Learning”, IEEE, pp.847-852 ,Brazil,2000.
  5. Fujii 98 T. Fujii, Y. Arai , H. Asama, I. Endo, “Multilayered Rienforcement Learning For Complicated collision Avoidance problems”, Proceedings of IEEE, International Conference on Robotics &Automation, pp.2186-2191,May 1998.
  6. Fukuda 95 T. Fukuda, Y. Hasegawa, K. Shimojima, F. Saito,“Reinforcement Learning Method For Generating Fuzzy Controller”, Department of Micro system Engineering, Nagoya University, pp.273-278, Japan, IEEE, 1995.
  7. Glorennec 00 P. Y. Glorennec, “Reinforcement Learning: An Overview”, INSA de Rennes ESIT'2000, Aachen, pp.17-35, Germany, September 2000.
  8. Jouffe 97 L. Jouffe, “Apprentissage de Système D'inférence Floue par des Méthodes de Renforcement”, Thèse de Doctorat, IRISA, Université de Rennes I, Juin 1997.
  9. Konolige 02a K. G. Konolige 'Saphira Référence', Edition Doxygen, Novembre 2002.
  10. Konolige 02b K. G. Konolige 'Saphira Robot Control Architecture', Edition SRI International, Avril, 2002 Smart 02 W. D. Smart, L. P. Kaelbling , “ Effective Reinforcement Learning For Mobile Robots”, Proceedings of the IEEE, International Conference on Robotics &Automation, pp.3404-3410, May 2002.
  11. Sutton 98 R.S. Sutton, A. Barto, “Reinforcement Learning”, Bradford Book, 1998.
Download


Paper Citation


in Harvard Style

Souissi A. and Rezine H. (2007). BEHAVIOUR NAVIGATION LEARNINIG USING FACL ALGORITHM . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-972-8865-82-5, pages 339-346. DOI: 10.5220/0001617403390346


in Bibtex Style

@conference{icinco07,
author={Abdelkarim Souissi and Hacene Rezine},
title={BEHAVIOUR NAVIGATION LEARNINIG USING FACL ALGORITHM},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2007},
pages={339-346},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001617403390346},
isbn={978-972-8865-82-5},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - BEHAVIOUR NAVIGATION LEARNINIG USING FACL ALGORITHM
SN - 978-972-8865-82-5
AU - Souissi A.
AU - Rezine H.
PY - 2007
SP - 339
EP - 346
DO - 10.5220/0001617403390346