2000 | OriginalPaper | Buchkapitel
Path Tracking Control of Non-holonomic Car-Like Robot with Reinforcement Learning
verfasst von : Jacky Baltes, Yuming Lin
Erschienen in: RoboCup-99: Robot Soccer World Cup III
Verlag: Springer Berlin Heidelberg
Enthalten in: Professional Book Archive
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This paper investigates the use of reinforcement learning in solving the path-tracking problem for car-like robots. The reinforcement learner uses a case-based function approximator, to extend the standard reinforcement learning paradigm to handle continuous states. The learned controller performs comparable to the best traditional control functions in both simulation and also in practical driving.