Fang, Bin

Hu, Xueheng

Lam, Hak Keung

Li, Zhen

Sun, Fuchun

Wen, Shuhuan

English

Purpose: This paper aims to propose a novel active SLAM framework to realize avoid obstacles and finish the autonomous navigation in indoor environment. Design/methodology/approach: The improved fuzzy optimized Q-Learning (FOQL) algorithm is used to solve the avoidance obstacles problem of the robot in the environment. To reduce the motion deviation of the robot, fractional controller is designed. The localization of the robot is based on FastSLAM algorithm. Findings: Simulation results of avoiding obstacles using traditional Q-learning algorithm, optimized Q-learning algorithm and FOQL algorithm are compared. The simulation results show that the improved FOQL algorithm has a faster learning speed than other two algorithms. To verify the simulation result, the FOQL algorithm is implemented on a NAO robot and the experimental results demonstrate that the improved fuzzy optimized Q-Learning obstacle avoidance algorithm is feasible and effective. Originality/value: The improved fuzzy optimized Q-Learning (FOQL) algorithm is used to solve the avoidance obstacles problem of the robot in the environment. To reduce the motion deviation of the robot, fractional controller is designed. To verify the simulation result, the FOQL algorithm is implemented on a NAO robot and the experimental results demonstrate that the improved fuzzy optimized Q-Learning obstacle avoidance algorithm is feasible and effective.</p

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NAO robot obstacle avoidance based on fuzzy Q-learning

https://kclpure.kcl.ac.uk/portal/files/119111703/NAO_robot_obstacle_avoidance_based_on_fuzzy_Q_learning_Accepted_Author_Version_.pdf

NAO robot obstacle avoidance based on fuzzy Q-learning

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