Multi-step Reinforcement Learning Algorithm of Mobile Robot Path Planning Based on Virtual Potential Field

• 作者: Jun Liu Wei Qi Xu Lu
• 来源期刊: 国际计算机前沿大会会议论文集
• 学科: 社会科学
• 关键词: Robot Path planning Machine LEARNING LEARNING Virtual potential field
• 年，卷（期）: 2017,（2）
• 页码范围: 123-125
• 页数: 3页
• 分类号: C5

摘要

A algorithm of dynamic multi-step reinforcement learning based on virtual potential field path planning is proposed in this paper. Firstly, it is constructed the virtual potential field according to the known information. And then in view of Q learning algorithm of the QekT algorithm, a multi-step reinforcement learning algorithm is proposed in this paper. It can update current Q value used of future dynamic k steps according to the current environment status. At the same time, the convergence is analyzed. Finally the simulation experiments are done. It shows that the proposed algorithm and convergence and so on are more efficiency than similar algorithms.