Hierarchical gaussian reinforcement learning for path planning in uncertain environments

Most of the issues in planning and controlling of robots are caused by uncertainties in the actuators and sensors of robots. Path planning is of paramount importance for autonomous mobile robots. This paper presents a path planning approach that is based on hierarchical Gaussian reinforcement learni...

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Main Authors:	AlDahoul, Nouar, Htike@Muhammad Yusof, Zaw Zaw, Akmeliawati, Rini, Shafie, Amir Akramin
Format:	Article
Language:	English
Published:	Research India Publications 2015
Subjects:	AI Indexes (General)
Online Access:	http://irep.iium.edu.my/43050/ http://irep.iium.edu.my/43050/ http://irep.iium.edu.my/43050/1/2_35120-__Paper_code_-_IJAER_ok_20029-20040.pdf

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spelling	iium-430502015-10-28T08:50:06Z http://irep.iium.edu.my/43050/ Hierarchical gaussian reinforcement learning for path planning in uncertain environments AlDahoul, Nouar Htike@Muhammad Yusof, Zaw Zaw Akmeliawati, Rini Shafie, Amir Akramin AI Indexes (General) Most of the issues in planning and controlling of robots are caused by uncertainties in the actuators and sensors of robots. Path planning is of paramount importance for autonomous mobile robots. This paper presents a path planning approach that is based on hierarchical Gaussian reinforcement learning. This approach differs from traditional Q-leaning in two ways: its ability to deal with continuous states and actions and its ability to work in uncertain (nondeterministic) environments. We propose a path planning algorithm for robots in uncertain environments by using hierarchical Gaussian Q-learning. We used Matlab to perform experiments in simulation. The simulation experimental results seem suggest the efficiency of the proposed algorithm in finding optimal paths of autonomous agents. Research India Publications 2015 Article PeerReviewed application/pdf en http://irep.iium.edu.my/43050/1/2_35120-__Paper_code_-_IJAER_ok_20029-20040.pdf AlDahoul, Nouar and Htike@Muhammad Yusof, Zaw Zaw and Akmeliawati, Rini and Shafie, Amir Akramin (2015) Hierarchical gaussian reinforcement learning for path planning in uncertain environments. International Journal of Applied Engineering Research, 10 (8). pp. 20029-20040. ISSN 0973-4562 http://www.ripublication.com
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	AI Indexes (General)
spellingShingle	AI Indexes (General) AlDahoul, Nouar Htike@Muhammad Yusof, Zaw Zaw Akmeliawati, Rini Shafie, Amir Akramin Hierarchical gaussian reinforcement learning for path planning in uncertain environments
description	Most of the issues in planning and controlling of robots are caused by uncertainties in the actuators and sensors of robots. Path planning is of paramount importance for autonomous mobile robots. This paper presents a path planning approach that is based on hierarchical Gaussian reinforcement learning. This approach differs from traditional Q-leaning in two ways: its ability to deal with continuous states and actions and its ability to work in uncertain (nondeterministic) environments. We propose a path planning algorithm for robots in uncertain environments by using hierarchical Gaussian Q-learning. We used Matlab to perform experiments in simulation. The simulation experimental results seem suggest the efficiency of the proposed algorithm in finding optimal paths of autonomous agents.
format	Article
author	AlDahoul, Nouar Htike@Muhammad Yusof, Zaw Zaw Akmeliawati, Rini Shafie, Amir Akramin
author_facet	AlDahoul, Nouar Htike@Muhammad Yusof, Zaw Zaw Akmeliawati, Rini Shafie, Amir Akramin
author_sort	AlDahoul, Nouar
title	Hierarchical gaussian reinforcement learning for path planning in uncertain environments
title_short	Hierarchical gaussian reinforcement learning for path planning in uncertain environments
title_full	Hierarchical gaussian reinforcement learning for path planning in uncertain environments
title_fullStr	Hierarchical gaussian reinforcement learning for path planning in uncertain environments
title_full_unstemmed	Hierarchical gaussian reinforcement learning for path planning in uncertain environments
title_sort	hierarchical gaussian reinforcement learning for path planning in uncertain environments
publisher	Research India Publications
publishDate	2015
url	http://irep.iium.edu.my/43050/ http://irep.iium.edu.my/43050/ http://irep.iium.edu.my/43050/1/2_35120-__Paper_code_-_IJAER_ok_20029-20040.pdf
first_indexed	2023-09-18T21:01:19Z
last_indexed	2023-09-18T21:01:19Z
_version_	1777410642282545152

Hierarchical gaussian reinforcement learning for path planning in uncertain environments

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