Real-time dynamic fuzzy Q-learning and control of mobile robots
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This paper presents a dynamic fuzzy Q-learning (DFQL) method that is capable of tuning fuzzy inference systems (FIS) online. A novel online self-organizing learning algorithm is developed so that structure and parameters identification are accomplished automatically and simultaneously based only on Q-learning. Self-organizing fuzzy inference is introduced to calculate actions and Q-functions so as to enable us to deal with continuous-valued states and actions. Fuzzy rules provide a natural mean of incorporating the bias components for rapid reinforcement learning. Experimental results and comparative studies with the fuzzy Q-learning (FQL) and continuous-action Q-learning in the wall-following task of mobile robots demonstrate that the proposed DFQL method is superior.