SIA OpenIR  > 机器人学研究室
Alternative TitleQ-Learning Algorithm Based on Incremental RBF Network
胡艳明1,2,3; 李德才1,2; 何玉庆1,2; 韩建达1,2,4
Source Publication机器人
Contribution Rank1
Funding Organization国家自然科学基金(U1608253,91748208)
Keyword核方法 最小二乘算法 增量式学习 移动机器人 Q学习
Other AbstractAn IRBFN (incremental radial basis function network) based Q-learning (IRBFN-QL) algorithm is proposed to upgrade the behavioural intelligence of robots. The key is to learn and store Q-value function based on adaptive growth of the structure and online learning of the parameters, to make robots learn the behavioral strategy autonomously and incrementally in unknown environment. Firstly, approximate linear independence (ALD) criterion is used to online increase the network nodes, thus the memory capacity of robots can grow adaptively along with the expansion of state space. The new added nodes change the inner connection of network topology. Kernel recursive least square (KRLS) algorithm is used to update the connection of network topology and its parameters, therefore the robot can extend and optimize its behavioral strategy con- stantly. Besides, L2 regularization term is integrated to KRLS algorithm to avoid the overfitting problem, which forms the L2 constrained KRLS (L2KRLS) algorithm. The experimental results show that IRBFN-QL algorithm can realize autonomous interaction between the robot and the unknown environment and gradually improve the navigation behavior ability of mobile robot in corridor environments.
Document Type期刊论文
Corresponding Author何玉庆
Recommended Citation
GB/T 7714
胡艳明,李德才,何玉庆,等. 基于增量式RBF网络的Q学习算法[J]. 机器人,2019,41(5):562-573.
APA 胡艳明,李德才,何玉庆,&韩建达.(2019).基于增量式RBF网络的Q学习算法.机器人,41(5),562-573.
MLA 胡艳明,et al."基于增量式RBF网络的Q学习算法".机器人 41.5(2019):562-573.
Files in This Item:
File Name/Size DocType Version Access License
基于增量式RBF网络的Q学习算法.pdf(649KB)期刊论文作者接受稿开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[胡艳明]'s Articles
[李德才]'s Articles
[何玉庆]'s Articles
Baidu academic
Similar articles in Baidu academic
[胡艳明]'s Articles
[李德才]'s Articles
[何玉庆]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[胡艳明]'s Articles
[李德才]'s Articles
[何玉庆]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 基于增量式RBF网络的Q学习算法.pdf
Format: Adobe PDF
All comments (0)
No comment.

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.