A Fast Learning Variable Lambda TD Model: Used to Realize Home Aware Robot Navigation

Abdulrahman Altahhan

Research output: Contribution to conferencePaper

2 Citations (Scopus)
17 Downloads (Pure)

Abstract

This work describes a fast learning robot goal-aware navigation model that employs both gradient and conjugate gradient Temporal Difference (TD, TD-conj) methods. It builds on the fact that TD-conj was proven to be equivalent to a gradient TD method with a variable lambda under certain conditions. Based on straightforward features extraction process combined with goal-aware capabilities provided by whole image measure, the model solves what we call u-turn-homing benchmark problem without using landmarks. Only one goal snapshot was used with agent facing the goal directly. Therefore a novel threshold stopping formula was used to recognize the goal which is less sensitive to the agent-goal orientation problem. Unlike other models, this model refrains from artificially manipulating or assuming a priori knowledge about the environment, two constraints that widely restrict the applicability of existing models in realistic scenarios. An on-line control method was used to train a set of neural networks. With the aid of variable and fixed eligibility traces, these networks approximate the agent’s action-value function allowing it to take close to optimal actions to reach its home. The effectiveness of the model was experimentally verified on an agent.
Original languageEnglish
Pages1534-1541
DOIs
Publication statusPublished - Jul 2014
EventNeural Networks, 2014 International Joint Conference - Beijing, China
Duration: 6 Jul 201411 Jul 2014

Conference

ConferenceNeural Networks, 2014 International Joint Conference
Abbreviated titleIJCNN
CountryChina
CityBeijing
Period6/07/1411/07/14

Bibliographical note

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Keywords

  • TD-conj
  • Home Aware
  • Variable λ TD
  • U-Turn-Homin
  • Orientation Insensitive Thersholding

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  • Cite this

    Altahhan, A. (2014). A Fast Learning Variable Lambda TD Model: Used to Realize Home Aware Robot Navigation. 1534-1541. Paper presented at Neural Networks, 2014 International Joint Conference, Beijing, China. https://doi.org/10.1109/IJCNN.2014.6889845