Q-learning based univector field navigation method for mobile robots

Abstract

In this paper, the Q-Learning based univector field method is proposed for mobile robot to accomplish the obstacle avoidance and the robot orientation at the target position. Univector field method guarantees the desired posture of the robot at the target position. But it does not navigate the robot to avoid obstacles. To solve this problem, modified univector field is used and trained by Q-learning. When the robot following the field to get the desired posture collides with obstacles, univector fields at collision positions are modified according to the reinforcement of Q-learning algorithm. With this proposed navigation method, robot navigation task in a dynamically changing environment becomes easier by using double action Qlearning [8] to train univector field instead of ordinary Qlearning. Computer simulations and experimental results are carried out for an obstacle avoidance mobile robot to demonstrate the effectiveness of the proposed scheme. © 2007 Springer.