《DynaQUF DynaQ based univector field navigation for autonomous mobile robots in unknown environments》.pdfVIP
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J.Cent.South
UⅡiv.(2013)20:1178一1188
DoI:10.1007/s11771—013.1601—0 垒springer
baseduniVectorfield for
Dyna—QUF:Dyna—Q naVigation
autonomousmobilerobotsinunknownenviroments
VIET
Hoang-huu,CHOISeung—yoon,CHUNGTae—choong
of Hee
DeparhnentCornputerEngineering,Kyung
Universi够,1一Seocheon—Dong,
1,Korea
Giheung-Gu,Yongin-Si,Gyeonggi—Do,446·70
◎CentralSouth and Berlill 2013
UniVersi够Press Heidelberg
Springer_Verlag
Abstract:A was tos01vethe ofautonomousmobilerobotsinu1】knownenvironments
novel印proachpresented navigationproblem
with
denseobstaclesbasedonaunivectorfieldmethod.Inanobstacle一仔ee robotis
envimlllnent,aensuredtoreachthe
goalposition
withmedesired theunivector univectorfieldcannot that
posturebyf01lowing field.Contrariwise,the guaranteetherobotwillavoid
obstaclesinenvirollIIlents.Inordertoan
create mobilerobot ableto theobstacleavoidance
intelligent being perfbnll taskwhile
meunivector is totraintherobotin directionstoattainac01lision一仃ee
following field,Dyna-Qalgoritllllldeveloped leamingmoving
forits onthe aswellas real that
on也e wodd
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