Skip to main content
SpringerLink
Log in

Extended Q-Learning Algorithm for Path-Planning of a Mobile Robot

  • Conference paper
Simulated Evolution and Learning (SEAL 2010)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 6457))

Included in the following conference series:

Abstract

In this paper, we study the path planning for Khepera II mobile robot in a grid map environment using an extended Q-learning algorithm. The extension offers an additional benefit of avoiding unnecessary computations involved to update the Q-table. A flag variable is used to keep track of the necessary updating in the entries of the Q-table. The validation of the algorithm is studied through real time execution on Khepera-II platform. An analysis reveals that there is a significant saving in time- and space- complexity of the proposed algorithm with respect to classical Q-learning.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 84.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Dean, T., Basye, K., Shewchuk, J.: Reinforcement learning for planning and Control. In: Minton, S. (ed.) Machine Learning Methods for Planning and Scheduling. Morgan Kaufmann, San Francisco (1993)

    Google Scholar 

  2. Bellman, R.E.: Dynamic programming, p. 957. Princeton University Press, Princeton (1957)

    MATH  Google Scholar 

  3. Watkins, C., Dayan, P.: Q-learning. Machine Learning 8, 279–292 (1992)

    MATH  Google Scholar 

  4. Konar, A.: Computational Intelligence: Principles, Techniques and Applications. Springer, Heidelberg (2005)

    Book  MATH  Google Scholar 

  5. Busoniu, L., Babushka, R., Schutter, B.D., Ernst, D.: Reinforcement Learning and Dynamic Programming Using Function Approximators. CRC Press, Taylor & Francis Group, Boca Raton, FL (2010)

    Google Scholar 

  6. Chakraborty, J., Konar, A., Jain, L.C., Chakraborty, U.: Cooperative Multi-Robot Path Planning Using Differential Evolution. Journal of Intelligent & Fuzzy Systems 20, 13–27 (2009)

    MATH  Google Scholar 

  7. Gerke, M., Hoyer, H.: Planning of Optimal paths for autonomous agents moving in in homogeneous environments. In: Proceedings of the 8th Int. Conf. on Advanced Robotics, pp. 347–352 (July 1997)

    Google Scholar 

  8. Xiao, J., Michalewicz, Z., Zhang, L., Trojanowski, K.: Adaptive Evolutionary Planner/Navigator for Mobile robots. IEEE Transactions on Evolutionary Computation 1(1) (April 1997)

    Google Scholar 

  9. Bien, Z., Lee, J.: A Minimum–Time trajectory planning Method for Two Robots. IEEE Trans. on Robotics and Automation 8(3), 443–450 (1992)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. ETCE Department, Jadavpur University, Kolkata, India

    Indrani Goswami (Chakraborty) & Amit Konar

  2. Dhaneswar Rath Institute of Engineering and Management Studies, Tangi, Cuttack, Orissa, India

    Pradipta Kumar Das

  3. Jaya Engineering College, Tamilnadu

    R. Janarthanan

Authors
  1. Indrani Goswami (Chakraborty)
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Pradipta Kumar Das
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Amit Konar
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. R. Janarthanan
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, Indian Institute of Technology Kanpur, 208016, Kanpur, Uttar Pradesh, India

    Kalyanmoy Deb

  2. Department of Computer Science andl Engineering, Indian Institute of Technology Kanpur, 208016, Kanpur, Uttar Pradesh, India

    Arnab Bhattacharya

  3. Department of Metallurgical and Materials Engineering, Indian Institute of Technology Kharagpur, 712302, Kharagpur, West Bengal, India

    Nirupam Chakraborti

  4. Department of Civil Engineering, Indian Institute of Technology Kanpur, 208016, Kanpur, Uttar Pradesh, India

    Partha Chakroborty  & Ashu Jain  & 

  5. Department of Electronics and Communication Engineering, Jadavpur University, 700032, Kolkata, West Bengal, India

    Swagatam Das

  6. Department of Mathematics and Statistics, Indian Institute of Technology Kanpur, 208016, Kanpur, Uttar Pradesh, India

    Joydeep Dutta

  7. Department of Chemical Engineering, Indian Institute of Technology Kanpur, 208016, Kanpur, Uttar Pradesh, India

    Santosh K. Gupta

  8. Aspiring Minds, 24 Pusa Road, 110005, New Delhi, India

    Varun Aggarwal

  9. Warwick Business School, University of Warwick, CV4 7AL, Coventry, UK

    Jürgen Branke

  10. Department of Computer Science and Engineering, University of Nevada, 89557, Reno, NV, USA

    Sushil J. Louis

  11. Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, 117576, Singapore

    Kay Chen Tan

Rights and permissions

Reprints and permissions

Copyright information

© 2010 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Goswami (Chakraborty), I., Das, P.K., Konar, A., Janarthanan, R. (2010). Extended Q-Learning Algorithm for Path-Planning of a Mobile Robot. In: Deb, K., et al. Simulated Evolution and Learning. SEAL 2010. Lecture Notes in Computer Science, vol 6457. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-17298-4_40

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-17298-4_40

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-17297-7

  • Online ISBN: 978-3-642-17298-4

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation