论文标题
使用Q学习控制器对线路自动机器人的自主控制
Autonomous Control of a Line Follower Robot Using a Q-Learning Controller
论文作者
论文摘要
在本文中，提出了一种基于SA的MIMO模拟Q学习方法来控制线路追随者机器人。这些类型的机器人的常规控制器是比例P控制器。考虑到机器人的未知机械特性以及诸如摩擦和湿滑表面之类的不确定性，系统建模和控制器设计可能非常具有挑战性。本文介绍了机器人的数学建模，并且基于此模型设计了模拟器。基本的Q学习方法基于纯剥削，有助于探索的Epsilon-Greedy方法可以在学习完成后通过探索非最佳动作来损害控制器的性能。基于模拟的基于退火的Q学习方法通过在学习增加时降低探索率来解决这一缺点。提供了模拟和实验结果，以评估所提出的控制器的有效性。
In this paper, a MIMO simulated annealing SA based Q learning method is proposed to control a line follower robot. The conventional controller for these types of robots is the proportional P controller. Considering the unknown mechanical characteristics of the robot and uncertainties such as friction and slippery surfaces, system modeling and controller designing can be extremely challenging. The mathematical modeling for the robot is presented in this paper, and a simulator is designed based on this model. The basic Q learning methods are based pure exploitation and the epsilon-greedy methods, which help exploration, can harm the controller performance after learning completion by exploring nonoptimal actions. The simulated annealing based Q learning method tackles this drawback by decreasing the exploration rate when the learning increases. The simulation and experimental results are provided to evaluate the effectiveness of the proposed controller.
