In this paper, a novel algorithm of trajectory tracking control for mobile robots using the reinforcement learning and PID is proposed. The Q-learning and PID are adopted for tracking the desired trajectory of the mobile robot. The proposed method can reduce the computational complexity of reward function for Q-learning and improve the tracking accuracy of mobile robot. The effectiveness of the proposed algorithm is demonstrated via simulation tests.
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This work was supported by the Fundamental Research Funds for the Central Universities under Grant 2019JBM004.
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Wang, S., Yin, X., Li, P. et al. Trajectory Tracking Control for Mobile Robots Using Reinforcement Learning and PID. Iran J Sci Technol Trans Electr Eng 44, 1059–1068 (2020). https://doi.org/10.1007/s40998-019-00286-4
- Trajectory tracking control
- Reinforcement learning