عنوان انگلیسی مقاله:
Double Q-PID algorithm for mobile robot control
ترجمه فارسی عنوان مقاله:
الگوریتم دابل Q-PID برای کنترل ربات های موبایل
Sciencedirect - Elsevier - Expert Systems With Applications, 137 (2019) 292-307: doi:10:1016/j:eswa:2019:06:066
Ignacio Carlucho, Mariano De Paula ∗, GerardoG. Acosta
Many expert systems have been developed for self-adaptive PID controllers of mobile robots. However, the high computational requirements of the expert systems layers, developed for the tuning of the PID controllers, still require previous expert knowledge and high efficiency in algorithmic and software exe- cution for real-time applications. To address these problems, in this paper we propose an expert agent- based system, based on a reinforcement learning agent, for self-adapting multiple low-level PID con- trollers in mobile robots. For the formulation of the artificial expert agent, we develop an incremental model-free algorithm version of the double Q -Learning algorithm for fast on-line adaptation of multi- ple low-level PID controllers. Fast learning and high on-line adaptability of the artificial expert agent is achieved by means of a proposed incremental active-learning exploration-exploitation procedure, for a non-uniform state space exploration, along with an experience replay mechanism for multiple value functions updates in the double Q -learning algorithm. A comprehensive comparative simulation study and experiments in a real mobile robot demonstrate the high performance of the proposed algorithm for a real-time simultaneous tuning of multiple adaptive low-level PID controllers of mobile robots in real world conditions.
Keywords: Reinforcement learning | Double Q -learning | Incremental learning | Double Q-PID | Mobile robots | Multi-platforms