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Veuillez utiliser cette adresse pour citer ce document : http://dlibrary.univ-boumerdes.dz:8080/handle/123456789/6681

Titre: Heuristic and learning method for obstacle avoidance with mobile robot
Auteur(s): Lachekhab, Fadhila
Acheli, Dalila
Tadjine, Mohamed
Meraihi, Yassine
Mots-clés: Mobile robot
Obstacle avoidance
Heuristic method
Fuzzy logic
Ultrasonic sonar
Reinforcement learning
Fuzzy actor-critic learning
Date de publication: 2020
Editeur: IEEE
Collection/Numéro: 2020 2nd International Workshop on Human-Centric Smart Environments for Health and Well-being (IHSH);
Résumé: In this paper, a fuzzy controller obstacle avoidance of the mobile robot Pioneer II is proposed. The fuzzy inference system FIS of this controller is performed by two methods: heuristic and reinforcement learning. the manual tuning of the fuzzy control system can be long and difficult. In contrast, reinforcement learning has proven theoretically and practically its ability to automatically optimize some parameters of the FIS. For that, the Fuzzy Actor-Critic Learning algorithm allows the determination of the parameters of the conclusions among of an available set fixed by the operator. The proposed algorithm allows the automatic determination of the parameters of the conclusions of the fuzzy rules. The simulations show that the two controllers (heuristic, RL controller) are able to avoid the different shapes of obstacles contained in known environments, and they show exceptionally good robustness when changing the environment (shape of obstacles, location of obstacles in the environment
URI/URL: DOI: 10.1109/IHSH51661.2021.9378725
https://ieeexplore.ieee.org/abstract/document/9378725
http://dlibrary.univ-boumerdes.dz:8080/handle/123456789/6681
ISBN: Electronic ISBN:978-1-6654-4084-4
Print on Demand(PoD) ISBN:978-1-6654-3125-5
Collection(s) :Communications Internationales

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