Car-like robot path planning based on voronoi and Q-learning algorithms
[ X ]
Tarih
2021
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
ICEET
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
This paper discusses a differential path planning
issue for the mobile robot depending on Voronoi diagram (VD)
and Q-learning algorithms (QL). The issues with re-arranging
paths in a dynamic environment with obstructions are treated
as an issue of looking for the best route between the start and
target stage. Since the car-like robot is differentially system and
its mathematically involved with the inward state of impediment
because of that some modification will be embedded like the
orientation method. This is a unique instance of a solitary
vehicle, which just goes ahead at a consistent speed and can just
turn left also, right. Voronoi diagram presents the world
encompassing brilliant specialists for robots, computer games,
and military issues, so improving the dependability, of
arranging the environment using it will help and decrease Q
learning calculations by re-updating the Q-table, according to
the new state, also decreasing both existence intricacy, relies
upon earlier information that came from the environment. The
work arrangement was tested for a 2D environment. The result
of the proposed work showed better performance in time, speed,
and length of the path also it can be utilized as an alternate style
of guides. A comparison with other related works is performed
and the result of these comparisons showed that our work
provides a good trajectory with performance.
Açıklama
Anahtar Kelimeler
Car-Like Robot, Nonholonomic System, Path Planning, Q-Learning, Voronoi Diagram
Kaynak
IEEE
WoS Q Değeri
N/A
Scopus Q Değeri
N/A
Cilt
Sayı
Künye
Alhassow, M. M., Ata, O., & Atilla, D. C. (2021, October). Car-Like Robot Path Planning Based on Voronoi and Q-Learning Algorithms. In 2021 International Conference on Engineering and Emerging Technologies (ICEET) (pp. 1-4). IEEE.
