Mobile robot navigation using reinforcement learning based on neural network with short term memory

Authors:
Andrey V. Gavrilov;Artem Lenskiy
Affiliations:
Dept. of Production Automation in Machine Engineering, Novosibirsk State Technical University, Novosibirsk, Russia;School of Electrical, Electronics & Communication Engineering, Korea University of Technology and Education, Cheonan, Korea
Venue:
ICIC'11 Proceedings of the 7th international conference on Advanced Intelligent Computing
Year:
2011

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Abstract

In this paper we propose a novel bio-inspired model of a mobile robot navigation system. The novelty of our work consists in combining short term memory and online neural network learning using history of events stored in this memory. The neural network is trained with a modified error back propagation algorithm that utilizes reward and punishment principal while interacting with the environment.