Optimal motion planning by reinforcement learning in autonomous mobile vehicles

Authors:
M. Gómez;R. V. González;T. Martínez-Marín;D. Meziat;S. Sánchez
Affiliations:
Departamento de automática, escuela politécnica superior, universidad de alcalá, campus universitario, 28871 alcalá de henares, madrid, spain;Departamento de automática, escuela politécnica superior, universidad de alcalá, campus universitario, 28871 alcalá de henares, madrid, spain;Departamento de física, ingeniería de sistemas y teoría de la señal, universidad de alicante, 03080 alicante, spain;Departamento de automática, escuela politécnica superior, universidad de alcalá, campus universitario, 28871 alcalá de henares, madrid, spain;Departamento de automática, escuela politécnica superior, universidad de alcalá, campus universitario, 28871 alcalá de henares, madrid, spain
Venue:
Robotica
Year:
2012

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Abstract

The aim of this work has been the implementation and testing in real conditions of a new algorithm based on the cell-mapping techniques and reinforcement learning methods to obtain the optimal motion planning of a vehicle considering kinematics, dynamics and obstacle constraints. The algorithm is an extension of the control adjoining cell mapping technique for learning the dynamics of the vehicle instead of using its analytical state equations. It uses a transformation of cell-to-cell mapping in order to reduce the time spent during the learning stage. Real experimental results are reported to show the satisfactory performance of the algorithm.