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Q(λ) Based Vector Direction for Path Planning Problem of Autonomous Mobile Robots

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IT Convergence and Services

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 107))

Abstract

This paper presents a novel algorithm to improve the efficiency of path planning for autonomous mobile robots. In an obstacle-free environment, the path planning of a robot is attained by following the vector direction from its current position to the goal position. In an obstacle environment, while following the vector direction, a robot has to avoid obstacles by rotating the moving direction. To accomplish the obstacle avoidance task for the mobile robot, the Q(λ) algorithm is employed to train the robot to learn suitable moving directions. Experimental results show that the proposed algorithm is soundness and completeness with a fast learning rate in the large environment of states and obstacles.

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Acknowledgments

This research was supported by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science, and Technology (2010-0012609).

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Authors and Affiliations

  1. Artificial Intelligence Lab, Department of Computer Engineering, School of Electronics and Information, Kyung Hee University, 1-Seocheon, Giheung, Yongin, Gyeonggi, 446–701, South Korea

    Hyun Ju Hwang, Hoang Huu Viet & TaeChoong Chung

Authors
  1. Hyun Ju Hwang
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  2. Hoang Huu Viet
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  3. TaeChoong Chung
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Corresponding author

Correspondence to Hoang Huu Viet .

Editor information

Editors and Affiliations

  1. SeoulTech, Computer Science and Engineering, Seoul University of Science & Technology, Gongreung 2-dong 172, Seoul, 139-743, Korea, Republic of (South Korea)

    James J. Park

  2. , Computer Science, University of Georgia, GSRC 415, Athens, 30602-7404, Georgia, USA

    Hamid Arabnia

  3. , Business Administration, Daejin University, Hogukro 1007, Pocheon-Si, 487-711, Kyonggi-do, Korea, Republic of (South Korea)

    Hang-Bae Chang

  4. , Division of Information and Computer Eng, Ajou University, San 5, Suwon, Gyeonggido, 443-749, Korea, Republic of (South Korea)

    Taeshik Shon

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© 2011 Springer Science+Business Media B.V.

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Hwang, H.J., Viet, H.H., Chung, T. (2011). Q(λ) Based Vector Direction for Path Planning Problem of Autonomous Mobile Robots. In: Park, J., Arabnia, H., Chang, HB., Shon, T. (eds) IT Convergence and Services. Lecture Notes in Electrical Engineering, vol 107. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-2598-0_46

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  • DOI: https://doi.org/10.1007/978-94-007-2598-0_46

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-2597-3

  • Online ISBN: 978-94-007-2598-0

  • eBook Packages: EngineeringEngineering (R0)

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