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A reinforcement learning approach for robot control in an unknown environment

Xiao, Nan-Feng and Nahavandi, Saeid 2002, A reinforcement learning approach for robot control in an unknown environment, in IEEE ICIT' 02 : 2002 IEEE International Conference on Industrial Technology : productivity reincarnation through robotics & automation : 11-14 December 2002, Shangri-La Hotel, Bangkok, Thailand, IEEE Xplore, Piscataway, N.J., pp. 1096-1099.

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Title A reinforcement learning approach for robot control in an unknown environment
Author(s) Xiao, Nan-Feng
Nahavandi, Saeid
Conference name IEEE International Conference on Industrial Technology (2002 : Bangkok, Thailand)
Conference location Bangkok, Thailand
Conference dates 11-14 December 2002
Title of proceedings IEEE ICIT' 02 : 2002 IEEE International Conference on Industrial Technology : productivity reincarnation through robotics & automation : 11-14 December 2002, Shangri-La Hotel, Bangkok, Thailand
Publication date 2002
Start page 1096
End page 1099
Publisher IEEE Xplore
Place of publication Piscataway, N.J.
Keyword(s) robot control
reinforcement learning
unknown environment
Summary In this paper, a control approach based on reinforcement learning is present for a robot to complete a dynamic task in an unknown environment. First, a temporal difference-based reinforcement learning algorithm and its evaluation function are used to make the robot learn with its trials and errors as well as experiences. Second, the simulation are carried out to adjust the parameters of the learning algorithm and determine an optimal policy by using the models of a robot. Last, the effectiveness of the present approach is demonstrated by balancing an inverse pendulum in the unknown environment.
Notes This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.
ISBN 0780376579
9780780376571
Language eng
Field of Research 080101 Adaptive Agents and Intelligent Robotics
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2002, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30004858
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