TY - JOUR
T1 - Hybrid control for robot navigation - A hierarchical Q-learning algorithm
AU - Chen, Chunlin
AU - Li, Han Xiong
AU - Dong, Daoyi
PY - 2008/6
Y1 - 2008/6
N2 - A control approach, hybrid control architecture, combines reactive and deliberate control using a hierarchical Q-learning algorithm. Under this control approach, the grid-topological maps are constructed and maintained online providing a model of the environment, and then, hybrid control architecture is proposed based on the grid-topological maps. Another novel q-learning algorithm is discussed based on the hybrid Markov decision process. This process runs as an integrated learning and control algorithm for the proposed hybrid control architecture. In addition, a grid-topological map-building method has been presented with online updating techniques.
AB - A control approach, hybrid control architecture, combines reactive and deliberate control using a hierarchical Q-learning algorithm. Under this control approach, the grid-topological maps are constructed and maintained online providing a model of the environment, and then, hybrid control architecture is proposed based on the grid-topological maps. Another novel q-learning algorithm is discussed based on the hybrid Markov decision process. This process runs as an integrated learning and control algorithm for the proposed hybrid control architecture. In addition, a grid-topological map-building method has been presented with online updating techniques.
UR - http://www.scopus.com/inward/record.url?scp=46349107239&partnerID=8YFLogxK
U2 - 10.1109/MRA.2008.921541
DO - 10.1109/MRA.2008.921541
M3 - Article
AN - SCOPUS:46349107239
SN - 1070-9932
VL - 15
SP - 37
EP - 47
JO - IEEE Robotics and Automation Magazine
JF - IEEE Robotics and Automation Magazine
IS - 2
ER -