Fuzzy genetic Network Programming with Reinforcement Learning for mobile robot navigation

2011 ◽  
Author(s):  
Siti Sendari ◽  
Shingo Mabu ◽  
Kotaro Hirasawa
Keyword(s):  
Reinforcement Learning ◽  
Mobile Robot ◽  
Robot Navigation ◽  
Genetic Network ◽  
Mobile Robot Navigation ◽  
Network Programming ◽  
Fuzzy Genetic ◽  
Genetic Network Programming

scholarly journals Fuzzy Genetic Network Programming with Noises for Mobile Robot Navigation

2011 ◽  
Vol 15 (7) ◽  
pp. 767-776 ◽  
Author(s):  
Siti Sendari ◽  
◽  
Shingo Mabu ◽  
Andre Tjahjadi ◽  
Kotaro Hirasawa
Keyword(s):  
Robot Navigation ◽  
Genetic Network ◽  
Mobile Robot Navigation ◽  
Training Phase ◽  
Network Programming ◽  
Sharp Boundary ◽  
Simulation Results ◽  
Fuzzy Genetic ◽  
Genetic Network Programming ◽  
Wall Following

Genetic Network Programming (GNP) has been proposed as one of the evolutionary algorithms, which is represented by graph structures. It was extended to GNP with Reinforcement Learning (GNP-RL) which combines online learning and evolution. GNP-RL succeeded in implementing the wall following behaviors of a Khepera robot. The objective of this paper is to improve the robustness of GNP-RL by introducing fuzzy GNP with noises. Fuzzy GNP overcomes the sharp boundary problem using the probabilistic transition on fuzzy judgment nodes, which improves the exploration ability. Furthermore, the robustness of fuzzy GNP can be improved by adding Gaussian noises to the sensors during the training phase. In order to evaluate the robustness of fuzzy GNP with noises, the wall following of a Khepera robot is simulated. Simulation results show that fuzzy GNP with noises is superior to GNP-RL.

scholarly journals Exploration of genetic network programming with two-stage reinforcement learning for mobile robot

2019 ◽  
Vol 17 (3) ◽  
pp. 1447
Author(s):  
Siti Sendari ◽  
Arif Nur Afandi ◽  
Ilham Ari Elbaith Zaeni ◽  
Yogi Dwi Mahandi ◽  
Kotaro Hirasawa ◽  
...  
Keyword(s):  
Reinforcement Learning ◽  
Mobile Robot ◽  
Genetic Network ◽  
Network Programming ◽  
Two Stage ◽  
Genetic Network Programming
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