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.
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.
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