Computer Engineering Commons^™

Reinforcement Learning-Based Mobile Robot Navigation, Ni̇hal Altuntaş, Erkan İmal, Nahi̇t Emanet, Ceyda Nur Öztürk

Turkish Journal of Electrical Engineering and Computer Sciences

In recent decades, reinforcement learning (RL) has been widely used in different research fields ranging from psychology to computer science. The unfeasibility of sampling all possibilities for continuous-state problems and the absence of an explicit teacher make RL algorithms preferable for supervised learning in the machine learning area, as the optimal control problem has become a popular subject of research. In this study, a system is proposed to solve mobile robot navigation by opting for the most popular two RL algorithms, Sarsa($\lambda )$ and Q($\lambda )$. The proposed system, developed in MATLAB, uses state and action sets, defined in a …