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Q Learning Behavior on Autonomous Navigation of Physical Robot

Wicaksono, Handy (2011) Q Learning Behavior on Autonomous Navigation of Physical Robot. In: The 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2011), 23-11-2011 - 26-11-2011, Incheon - Korea Selatan.

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    Abstract

    Behavior based architecture gives robot fast and reliable action. If there are many behaviors in robot, behavior coordination is needed. Subsumption architecture is behavior coordination method that give quick and robust response. Learning mechanism improve robot’s performance in handling uncertainty. Q learning is popular reinforcement learning method that has been used in robot learning because it is simple, convergent and off policy. In this paper, Q learning will be used as learning mechanism for obstacle avoidance behavior in autonomous robot navigation. Learning rate of Q learning affect robot’s performance in learning phase. As the result, Q learning algorithm is successfully implemented in a physical robot with its imperfect environment.

    Item Type: Conference or Workshop Item (Paper)
    Uncontrolled Keywords: Q learning, behavior coordination, autonomous navigation, physical robot
    Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
    Divisions: Faculty of Industrial Technology > Electrical Engineering Department
    Depositing User: Admin
    Date Deposited: 11 Jul 2012 22:09
    Last Modified: 05 Nov 2012 18:07
    URI: http://repository.petra.ac.id/id/eprint/15913

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