Reinforcement Learning-Based Two-Wheel Robot Control
In this paper, reinforcement learning (RL) with PID control is used to design the balance and self-control system to verify the feasibility of RL technology in this field. We can use straight line command and turn command via WiFi interface to control the robot. Thus the robot acts according to the received command.
The system is divided into three parts: sensing module, learning control module and motor drive module. A Q-Learning algorithm is implemented by learning control module using ARM A8 embedded platform. The sensing module contains an accelerometer (ADXL345) and a gyroscope (L3G4200D) that senses the current tilt angle and angular velocity of robot. Rely on the Q-learning algorithm which based on the input data from sensing module, an optimal response control is derived in motor driving control. The realization results shown that the two-wheel robot can back to balance within 2 ms once it goes to unbalance state.
KeywordsPID control Reinforcement learning Q-Learning Self-balancing Two-wheeled robots
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