Modular Neural Network and Classical Reinforcement Learning for Autonomous Robot Navigation: Inhibiting Undesirable Behaviors

in The 2006 IEEE International Joint Conference on Neural Network Proceedings (2006)

Classical reinforcement learning mechanisms and a modular neural network are unified to conceive an intelligent autonomous system for mobile robot navigation. The conception aims at inhibiting two common ... [more ▼]

Classical reinforcement learning mechanisms and a modular neural network are unified to conceive an intelligent autonomous system for mobile robot navigation. The conception aims at inhibiting two common navigation deficiencies: generation of unsuitable cyclic trajectories and ineffectiveness in risky configurations. Different design apparatuses are considered to compose a system to tackle with these navigation difficulties, for instance: 1) neuron parameter to simultaneously memorize neuron activities and function as a learning factor, 2) reinforcement learning mechanisms to adjust neuron parameters (not only synapse weights), and 3) a inner-triggered reinforcement. Simulation results show that the proposed system circumvents difficulties caused by specific environment configurations, improving the relation between collisions and captures. [less ▲]