标题:An improved reinforcement learning algorithm for cooperative behaviors of mobile robots
作者:Song, Yong ;Li, Yibin ;Wang, Xiaoli ;Ma, Xin ;Ruan, Jiuhong
作者机构:[Song, Yong ;Li, Yibin ] School of Control Science and Engineering, Shandong University, Jinan 250061, China;[Song, Yong ;Wang, Xiaoli ;Ma, Xin ;Ruan, 更多
通讯作者:Li, Y
来源:Journal of Control Science and Engineering
出版年:2014
卷:2014
DOI:10.1155/2014/270548
摘要:Reinforcement learning algorithm for multirobot will become very slow when the number of robots is increasing resulting in an exponential increase of state space. A sequential Q-learning based on knowledge sharing is presented. The rule repository of robots behaviors is firstly initialized in the process of reinforcement learning. Mobile robots obtain present environmental state by sensors. Then the state will be matched to determine if the relevant behavior rule has been stored in the database. If the rule is present, an action will be chosen in accordance with the knowledge and the rules, and the matching weight will be refined. Otherwise the new rule will be appended to the database. The robots learn according to a given sequence and share the behavior database. We examine the algorithm by multirobot following-surrounding behavior, and find that the improved algorithm can effectively accelerate the convergence speed. © 2014 Yong Song et al.
收录类别:EI;SCOPUS
Scopus被引频次:2
资源类型:期刊论文
原文链接:https://www.scopus.com/inward/record.uri?eid=2-s2.0-84896911347&doi=10.1155%2f2014%2f270548&partnerID=40&md5=0acf7375cd214d6d6c62b93b0effea18
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