2P2-G05 強化学習を用いた移動ロボットの障害物回避軌道の探索 : A*アルゴリズムと強化学習の統合(進化・学習とロボティクス)

概要

論文の詳細を見る
It is necessary for a mobile robot to obtain a path, which can adapt to unknown and changeable environment. A method of path search using reinforcement learning is proposed. The problem herein is that the path is not necessarily the shortest only by applying reinforcement learning. On the other hand, A* algorithm is one of the method which can search the shortest path. However, in A* algorithm, the position of the obstacle, the start, and the goal must be known in advance of the searching process. To overcome these problems, in the present paper, a method is proposed in which A* algorithm is combined with reinforcement learning. The effectiveness of this method is investigated by computer simulation.
一般社団法人日本機械学会の論文
2008-06-06