Multi-scale Q-learning of a mobile robot in dynamic environments

摘要

This paper deals with a state-dependent learning method of a mobile robot in dynamic and unknown environments. The aim of a mobile robot is to find the optimal path in the task of maze navigation on a grid world. Various types of reinforcement learning methods have been proposed, but it is very difficult to design the granularity (resolution) of states in search space. Therefore, we propose a multi-scale value function to enhance the initial learning of reinforcement learning. First, we compare the performance of temporal difference (TD) learning and Q-learning in dynamic environment. Here we assume several obstacles disappear in the grid world with an existence probability. Several experimental results show the effectiveness of the proposed method.