Modular Neural Network and Classical Reinforcement Learning for Autonomous Robot Navigation : Inhibiting Undesirable Behaviors

• Classical reinforcement learning mechanisms and a modular neural network are unified for conceiving an intelligent autonomous system for mobile robot navigation. The conception aims at inhibiting two common navigation deficiencies: generation of unsuitable cyclic trajectories and ineffectiveness in risky configurations. Distinct design apparatuses are considered for tackling these navigation difficulties, for instance: 1) neuron parameter for memorizing neuron activities (also functioning as a learning factor), 2) reinforcement learning mechanisms for adjusting neuron parameters (not only synapse weights), and 3) a inner-triggered reinforcement. Simulation results show that the proposed system circumvents difficulties caused by specific environment configurations, improving the relation between collisions and captures.

Ämnesord

MEDICIN OCH HÄLSOVETENSKAP  -- Medicinska och farmaceutiska grundvetenskaper (hsv//swe)

MEDICAL AND HEALTH SCIENCES  -- Basic Medicine (hsv//eng)

NATURVETENSKAP  -- Data- och informationsvetenskap (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences (hsv//eng)

Nyckelord

mobile robots

neurocontrollers

path planning

TECHNOLOGY

TEKNIKVETENSKAP

Publikations- och innehållstyp

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