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Learning visual docking for non-holonomic autonomous vehicles

By Tomas Martinez-Marin and Tom Duckett

Abstract

This paper presents a new method of learning visual docking skills for non-holonomic vehicles by direct interaction with the environment. The method is based on a reinforcement algorithm, which speeds up Q-learning by applying memorybased sweeping and enforcing the “adjoining property”, a filtering mechanism to only allow transitions between states that satisfy a fixed distance. The method overcomes some limitations of reinforcement learning techniques when they are employed in applications with continuous non-linear systems, such as car-like vehicles. In particular, a good approximation to the optimal\ud behaviour is obtained by a small look-up table. The algorithm is tested within an image-based visual servoing framework on a docking task. The training time was less than 1 hour on the real vehicle. In experiments, we show the satisfactory performance of the algorithm

Topics: G700 Artificial Intelligence, G760 Machine Learning, G400 Computer Science, G740 Computer Vision
Year: 2008
OAI identifier: oai:eprints.lincoln.ac.uk:1683

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